ROC curves for different models on datasets I and II. TileMap and the models with Baum-Welch and Viterbi training parameter estimates show similar performance on dataset I (left) with a small advantage for the models with optimised parameters. Comparison with a model using ad hoc parameter estimates highlights the performance increase achieved by optimising model parameters. On dataset II (right) TileMap performs similarly to the model with ad hoc parameter estimates. Figures on the bottom provide a close-up view of the plots above.