\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 & 97.31 \% & 92.66 \% & 97.36 \% & 97.26 \% & 1.20 \% & 2.74 \%\\
UMM\_ROAD & 98.19 \% & 94.79 \% & 97.87 \% & 98.52 \% & 2.36 \% & 1.48 \%\\
UU\_ROAD & 96.93 \% & 91.00 \% & 96.38 \% & 97.49 \% & 1.19 \% & 2.51 \%\\
URBAN\_ROAD & 97.60 \% & 92.89 \% & 97.29 \% & 97.91 \% & 1.50 \% & 2.09 \%
\end{tabular}