\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 & 96.51 \% & 92.94 \% & 95.90 \% & 97.13 \% & 1.89 \% & 2.87 \%\\
UMM\_ROAD & 97.80 \% & 95.25 \% & 97.50 \% & 98.10 \% & 2.77 \% & 1.90 \%\\
UU\_ROAD & 96.52 \% & 92.43 \% & 95.94 \% & 97.10 \% & 1.34 \% & 2.90 \%\\
URBAN\_ROAD & 97.08 \% & 93.54 \% & 96.57 \% & 97.59 \% & 1.91 \% & 2.41 \%
\end{tabular}