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 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; determining at least one feature within each of the ground truth map and the prediction map based on pixels including the at least one feature; computing the overlap of pixels of the at least one feature from the ground truth map with the pixels of the at least one feature from the prediction map; matching the at least one feature from the ground truth map with the at least one feature from the prediction map in response to the overlap of pixels satisfying a predetermined value; and establishing a precision of the prediction map based on the overlap of pixels.