 Compared with on-line road-boundary detection using on-vehicle cameras/Lidars, off-line detection using aerial images could alleviate the severe occlusion issue.
<fluency>  Compared with on-line road-boundary detection using on-vehicle cameras/Lidars, off-line detection using aerial images could alleviate the severe occlusion issue.
 Compared with on-line road-boundary detection using on-vehicle cameras/Lidars, offline detection using aerial images could alleviate the severe occlusion issue.