\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 & 95.19 \% & 92.37 \% & 95.03 \% & 95.35 \% & 2.27 \% & 4.65 \%\\
UMM\_ROAD & 96.87 \% & 94.99 \% & 96.80 \% & 96.94 \% & 3.52 \% & 3.06 \%\\
UU\_ROAD & 95.55 \% & 92.35 \% & 95.47 \% & 95.63 \% & 1.48 \% & 4.37 \%\\
URBAN\_ROAD & 96.03 \% & 93.23 \% & 96.02 \% & 96.05 \% & 2.20 \% & 3.95 \%
\end{tabular}