\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 & 96.95 \% & 93.60 \% & 96.99 \% & 96.90 \% & 1.37 \% & 3.10 \%\\
UMM\_ROAD & 98.13 \% & 95.52 \% & 98.01 \% & 98.25 \% & 2.19 \% & 1.75 \%\\
UU\_ROAD & 97.04 \% & 92.97 \% & 96.84 \% & 97.24 \% & 1.03 \% & 2.76 \%\\
URBAN\_ROAD & 97.50 \% & 93.98 \% & 97.41 \% & 97.58 \% & 1.43 \% & 2.42 \%
\end{tabular}