\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 & 97.02 \% & 93.34 \% & 96.84 \% & 97.20 \% & 1.45 \% & 2.80 \%\\
UMM\_ROAD & 98.15 \% & 95.60 \% & 98.07 \% & 98.23 \% & 2.13 \% & 1.77 \%\\
UU\_ROAD & 97.02 \% & 92.78 \% & 96.61 \% & 97.43 \% & 1.12 \% & 2.57 \%\\
URBAN\_ROAD & 97.50 \% & 93.85 \% & 97.16 \% & 97.84 \% & 1.57 \% & 2.16 \%
\end{tabular}