\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 & 96.87 \% & 93.71 \% & 97.35 \% & 96.40 \% & 1.20 \% & 3.60 \%\\
UMM\_ROAD & 98.05 \% & 95.63 \% & 97.89 \% & 98.21 \% & 2.33 \% & 1.79 \%\\
UU\_ROAD & 96.93 \% & 93.08 \% & 96.78 \% & 97.09 \% & 1.05 \% & 2.91 \%\\
URBAN\_ROAD & 97.42 \% & 94.09 \% & 97.30 \% & 97.54 \% & 1.49 \% & 2.46 \%
\end{tabular}