Occlusion

Detected roads

Correctly detected roads

Actually changed

Correctly detected changed roads

Correctness

Completeness

No occlusion

1956

1636

87

85

83.64%

97.70%

Partial occlusion

256

124

1

1

48.43%

100%

Total

2212

1760

88

86

79.56%

97.72%