\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 & 85.13 \% & 72.24 \% & 81.33 \% & 89.29 \% & 9.34 \% & 10.71 \%\\
UMM\_ROAD & 88.20 \% & 82.33 \% & 85.32 \% & 91.27 \% & 17.26 \% & 8.73 \%\\
UU\_ROAD & 81.00 \% & 69.74 \% & 79.78 \% & 82.27 \% & 6.79 \% & 17.73 \%\\
URBAN\_ROAD & 85.56 \% & 74.21 \% & 82.81 \% & 88.50 \% & 10.12 \% & 11.50 \%
\end{tabular}