\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 & 95.65 \% & 89.49 \% & 95.31 \% & 96.00 \% & 2.15 \% & 4.00 \%\\
UMM\_ROAD & 97.24 \% & 93.84 \% & 97.99 \% & 96.51 \% & 2.18 \% & 3.49 \%\\
UU\_ROAD & 95.68 \% & 88.37 \% & 94.75 \% & 96.63 \% & 1.75 \% & 3.37 \%\\
URBAN\_ROAD & 96.38 \% & 90.85 \% & 96.38 \% & 96.39 \% & 1.99 \% & 3.61 \%
\end{tabular}