\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 & 90.48 \% & 88.20 \% & 91.30 \% & 89.67 \% & 3.90 \% & 10.33 \%\\
UMM\_ROAD & 93.89 \% & 92.62 \% & 94.57 \% & 93.22 \% & 5.89 \% & 6.78 \%\\
UU\_ROAD & 91.89 \% & 89.44 \% & 92.59 \% & 91.20 \% & 2.38 \% & 8.80 \%\\
URBAN\_ROAD & 92.39 \% & 90.24 \% & 93.03 \% & 91.76 \% & 3.79 \% & 8.24 \%
\end{tabular}