\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 & 83.73 \% & 72.89 \% & 82.13 \% & 85.39 \% & 8.47 \% & 14.61 \%\\
UMM\_ROAD & 87.96 \% & 83.16 \% & 90.01 \% & 86.01 \% & 10.50 \% & 13.99 \%\\
UU\_ROAD & 80.78 \% & 70.80 \% & 81.07 \% & 80.50 \% & 6.13 \% & 19.50 \%\\
URBAN\_ROAD & 84.93 \% & 76.31 \% & 85.37 \% & 84.49 \% & 7.98 \% & 15.51 \%\\
UM\_LANE & 57.22 \% & 39.34 \% & 41.78 \% & 90.79 \% & 22.28 \% & 9.21 \%
\end{tabular}