\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 & 90.50 \% & 87.95 \% & 91.43 \% & 89.59 \% & 3.83 \% & 10.41 \%\\
UMM\_ROAD & 91.34 \% & 88.65 \% & 91.07 \% & 91.60 \% & 9.87 \% & 8.40 \%\\
UU\_ROAD & 85.55 \% & 76.90 \% & 85.36 \% & 85.75 \% & 4.79 \% & 14.25 \%\\
URBAN\_ROAD & 89.68 \% & 86.50 \% & 89.67 \% & 89.68 \% & 5.69 \% & 10.32 \%
\end{tabular}