\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 & 89.42 \% & 83.13 \% & 88.31 \% & 90.55 \% & 5.46 \% & 9.45 \%\\
UMM\_ROAD & 92.21 \% & 87.99 \% & 91.55 \% & 92.89 \% & 9.43 \% & 7.11 \%\\
UU\_ROAD & 85.46 \% & 74.07 \% & 85.06 \% & 85.86 \% & 4.91 \% & 14.14 \%\\
URBAN\_ROAD & 89.75 \% & 84.15 \% & 89.02 \% & 90.49 \% & 6.15 \% & 9.51 \%
\end{tabular}