\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 & 94.77 \% & 91.42 \% & 95.16 \% & 94.37 \% & 2.19 \% & 5.63 \%\\
UMM\_ROAD & 96.06 \% & 93.49 \% & 95.80 \% & 96.31 \% & 4.64 \% & 3.69 \%\\
UU\_ROAD & 93.21 \% & 89.18 \% & 92.81 \% & 93.60 \% & 2.36 \% & 6.40 \%\\
URBAN\_ROAD & 94.97 \% & 91.49 \% & 94.94 \% & 95.01 \% & 2.79 \% & 4.99 \%\\
UM\_LANE & 90.54 \% & 82.03 \% & 94.92 \% & 86.56 \% & 0.82 \% & 13.44 \%
\end{tabular}