\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 & 94.16 \% & 93.41 \% & 95.02 \% & 93.32 \% & 2.23 \% & 6.68 \%\\
UMM\_ROAD & 95.45 \% & 95.41 \% & 95.49 \% & 95.41 \% & 4.96 \% & 4.59 \%\\
UU\_ROAD & 91.27 \% & 91.77 \% & 91.32 \% & 91.22 \% & 2.82 \% & 8.78 \%\\
URBAN\_ROAD & 93.98 \% & 93.65 \% & 94.26 \% & 93.69 \% & 3.14 \% & 6.31 \%
\end{tabular}