\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 & 88.89 \% & 82.17 \% & 87.26 \% & 90.58 \% & 6.03 \% & 9.42 \%\\
UMM\_ROAD & 90.55 \% & 85.40 \% & 92.75 \% & 88.45 \% & 7.60 \% & 11.55 \%\\
UU\_ROAD & 86.13 \% & 75.21 \% & 86.47 \% & 85.80 \% & 4.38 \% & 14.20 \%\\
URBAN\_ROAD & 88.97 \% & 79.69 \% & 89.50 \% & 88.44 \% & 5.71 \% & 11.56 \%
\end{tabular}