\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 & 91.15 \% & 83.82 \% & 89.07 \% & 93.33 \% & 5.22 \% & 6.67 \%\\
UMM\_ROAD & 94.05 \% & 90.96 \% & 94.82 \% & 93.29 \% & 5.60 \% & 6.71 \%\\
UU\_ROAD & 89.45 \% & 79.87 \% & 85.40 \% & 93.90 \% & 5.23 \% & 6.10 \%\\
URBAN\_ROAD & 92.03 \% & 85.64 \% & 90.65 \% & 93.45 \% & 5.31 \% & 6.55 \%
\end{tabular}