\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 & 92.20 \% & 88.85 \% & 92.57 \% & 91.83 \% & 3.36 \% & 8.17 \%\\
UMM\_ROAD & 95.52 \% & 92.86 \% & 95.37 \% & 95.67 \% & 5.10 \% & 4.33 \%\\
UU\_ROAD & 92.65 \% & 89.20 \% & 92.85 \% & 92.45 \% & 2.32 \% & 7.55 \%\\
URBAN\_ROAD & 93.83 \% & 90.47 \% & 94.00 \% & 93.67 \% & 3.29 \% & 6.33 \%\\
UM\_LANE & 89.88 \% & 87.52 \% & 92.01 \% & 87.84 \% & 1.34 \% & 12.16 \%
\end{tabular}