\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 & 85.23 \% & 88.66 \% & 83.43 \% & 87.12 \% & 7.89 \% & 12.88 \%\\
UMM\_ROAD & 82.04 \% & 85.56 \% & 75.11 \% & 90.39 \% & 32.93 \% & 9.61 \%\\
UU\_ROAD & 74.02 \% & 79.61 \% & 65.15 \% & 85.68 \% & 14.93 \% & 14.32 \%\\
URBAN\_ROAD & 79.63 \% & 83.90 \% & 72.59 \% & 88.17 \% & 18.34 \% & 11.83 \%\\
UM\_LANE & 69.63 \% & 73.78 \% & 80.01 \% & 61.63 \% & 2.71 \% & 38.37 \%
\end{tabular}