\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 & 95.38 \% & 89.07 \% & 94.84 \% & 95.91 \% & 2.38 \% & 4.09 \%\\
UMM\_ROAD & 97.33 \% & 93.87 \% & 98.02 \% & 96.65 \% & 2.15 \% & 3.35 \%\\
UU\_ROAD & 95.50 \% & 88.06 \% & 94.40 \% & 96.63 \% & 1.87 \% & 3.37 \%\\
URBAN\_ROAD & 96.30 \% & 90.66 \% & 96.17 \% & 96.43 \% & 2.12 \% & 3.57 \%
\end{tabular}