\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 & 94.17 \% & 89.16 \% & 94.95 \% & 93.41 \% & 2.26 \% & 6.59 \%\\
UMM\_ROAD & 96.29 \% & 93.98 \% & 98.14 \% & 94.52 \% & 1.97 \% & 5.48 \%\\
UU\_ROAD & 93.13 \% & 87.59 \% & 93.89 \% & 92.38 \% & 1.96 \% & 7.62 \%\\
URBAN\_ROAD & 94.89 \% & 90.63 \% & 96.14 \% & 93.67 \% & 2.07 \% & 6.33 \%
\end{tabular}