US Patent 10210411 Method and apparatus for establishing feature prediction accuracy

A method, apparatus, and computer program product are disclosed to estimate the accuracy of feature prediction in an image. Methods may include: receiving a binary ground truth map of pixels and a binary prediction map of pixels, where pixels corresponding to features of an environment are assigned a 1 or a 0, and pixels not corresponding to features of the environment are assigned the other of a 1 or a 0; computing a distance transform at each pixel of the binary ground truth map representing a distance to a closest pixel representing a feature; computing a distance transform at each pixel of the prediction map representing a distance to a closest pixel corresponding to a feature; and establishing accuracy of the prediction map of pixels using the error map of the distance transform for each pixel.