\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 & 90.07 \% & 79.98 \% & 90.79 \% & 89.35 \% & 4.13 \% & 10.65 \%\\
UMM\_ROAD & 93.55 \% & 90.38 \% & 94.18 \% & 92.92 \% & 6.31 \% & 7.08 \%\\
UU\_ROAD & 85.76 \% & 76.18 \% & 87.65 \% & 83.95 \% & 3.86 \% & 16.05 \%\\
URBAN\_ROAD & 90.64 \% & 81.42 \% & 91.62 \% & 89.68 \% & 4.52 \% & 10.32 \%
\end{tabular}