\begin{tabular}{c | c | c | c | c | c}
{\bf Benchmark} & {\bf MaxF} & {\bf AP} & {\bf PRE} & {\bf REC} & {\bf FPR} & {\bf FNR}\\ \hline
UM\_ROAD & 85.43 \% & 83.04 \% & 82.69 \% & 88.37 \% & 8.43 \% & 11.63 \%\\
UMM\_ROAD & 88.19 \% & 88.65 \% & 83.98 \% & 92.85 \% & 19.48 \% & 7.15 \%\\
UU\_ROAD & 84.14 \% & 80.20 \% & 80.57 \% & 88.03 \% & 6.92 \% & 11.97 \%\\
URBAN\_ROAD & 86.07 \% & 84.34 \% & 82.16 \% & 90.38 \% & 10.81 \% & 9.62 \%
\end{tabular}