\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 & 87.33 \% & 89.62 \% & 85.77 \% & 88.95 \% & 6.73 \% & 11.05 \%\\
UMM\_ROAD & 89.97 \% & 92.14 \% & 87.47 \% & 92.62 \% & 14.58 \% & 7.38 \%\\
UU\_ROAD & 84.44 \% & 87.17 \% & 83.66 \% & 85.23 \% & 5.42 \% & 14.77 \%\\
URBAN\_ROAD & 87.80 \% & 89.96 \% & 86.01 \% & 89.66 \% & 8.04 \% & 10.34 \%
\end{tabular}