Simulation evaluation on the accuracy of imputing offspring genotypes. (A–D) The results for the AI-RIL, the F₂, the MAGIC, and the CP, respectively, are shown. In the figure legend on the right side, “_AD” denotes that the input data are allelic depths rather than called genotypes, “_NoP” denotes that the first two founders’ genotypes are not available, and “_Ref” and “_NoRef” denotes whether Beagle uses founder haplotypes as reference panels or not. When the input data are called genotypes, complete homozygosity is assumed for the AI-RIL and the MAGIC, and thus their missing fractions on the top axes are smaller than those of the F₂ and the CP at the same depths.