\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 & 83.69 \% & 84.61 \% & 78.31 \% & 89.88 \% & 11.35 \% & 10.12 \%\\
UMM\_ROAD & 87.57 \% & 90.52 \% & 85.92 \% & 89.28 \% & 16.08 \% & 10.72 \%\\
UU\_ROAD & 82.70 \% & 83.95 \% & 78.54 \% & 87.32 \% & 7.77 \% & 12.68 \%\\
URBAN\_ROAD & 85.09 \% & 86.86 \% & 82.27 \% & 88.10 \% & 10.46 \% & 11.90 \%
\end{tabular}