\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 & 97.26 \% & 93.54 \% & 97.38 \% & 97.15 \% & 1.19 \% & 2.85 \%\\
UMM\_ROAD & 98.02 \% & 95.50 \% & 97.80 \% & 98.25 \% & 2.43 \% & 1.75 \%\\
UU\_ROAD & 97.07 \% & 93.04 \% & 97.19 \% & 96.95 \% & 0.91 \% & 3.05 \%\\
URBAN\_ROAD & 97.55 \% & 93.98 \% & 97.46 \% & 97.65 \% & 1.40 \% & 2.35 \%
\end{tabular}