\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 & 96.13 \% & 93.42 \% & 96.20 \% & 96.06 \% & 1.73 \% & 3.94 \%\\
UMM\_ROAD & 97.46 \% & 95.54 \% & 97.30 \% & 97.62 \% & 2.97 \% & 2.38 \%\\
UU\_ROAD & 95.63 \% & 92.77 \% & 95.37 \% & 95.89 \% & 1.52 \% & 4.11 \%\\
URBAN\_ROAD & 96.60 \% & 93.90 \% & 96.46 \% & 96.73 \% & 1.95 \% & 3.27 \%
\end{tabular}