They'd be unable to show that you registered the domain name in "bad faith" (since they and their TM didn't exist when you registered the domain name 5 years ago). The following case is relevant, as it mirrors your situation:
http://arbiter.wipo.int/domains/deci...2002-0896.html
So, you need not worry too much. Although, should you start using the domain name in the same field that they have a trademark, then you might be open to a lawsuit (although they shouldn't win in UDRP --- although some of the panelists deciding these cases tend to make up the rules as they go along). If their trademark is in bananas, but you use it for cameras, then you are safe.