\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 & 78.90 \% & 66.06 \% & 69.53 \% & 91.19 \% & 18.21 \% & 8.81 \%\\
UMM\_ROAD & 89.41 \% & 80.61 \% & 83.43 \% & 96.30 \% & 21.02 \% & 3.70 \%\\
UU\_ROAD & 78.43 \% & 62.46 \% & 70.87 \% & 87.80 \% & 11.76 \% & 12.20 \%\\
URBAN\_ROAD & 83.47 \% & 72.23 \% & 75.90 \% & 92.72 \% & 16.22 \% & 7.28 \%
\end{tabular}