\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 & 88.14 \% & 91.24 \% & 88.60 \% & 87.68 \% & 5.14 \% & 12.32 \%\\
UMM\_ROAD & 89.69 \% & 93.84 \% & 89.13 \% & 90.25 \% & 12.10 \% & 9.75 \%\\
UU\_ROAD & 82.71 \% & 87.19 \% & 82.16 \% & 83.26 \% & 5.89 \% & 16.74 \%\\
URBAN\_ROAD & 87.09 \% & 91.12 \% & 87.10 \% & 87.08 \% & 7.10 \% & 12.92 \%\\
UM\_LANE & 83.42 \% & 86.84 \% & 84.76 \% & 82.12 \% & 2.60 \% & 17.88 \%
\end{tabular}