\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 & 94.06 \% & 92.13 \% & 94.32 \% & 93.80 \% & 2.57 \% & 6.21 \%\\
UMM\_ROAD & 95.41 \% & 94.83 \% & 95.23 \% & 95.59 \% & 5.26 \% & 4.41 \%\\
UU\_ROAD & 92.41 \% & 90.16 \% & 92.30 \% & 92.52 \% & 2.52 \% & 7.48 \%\\
URBAN\_ROAD & 94.20 \% & 92.66 \% & 94.25 \% & 94.14 \% & 3.16 \% & 5.86 \%
\end{tabular}