\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 & 95.14 \% & 87.89 \% & 93.55 \% & 96.80 \% & 3.04 \% & 3.20 \%\\
UMM\_ROAD & 96.35 \% & 90.58 \% & 94.40 \% & 98.39 \% & 6.42 \% & 1.61 \%\\
UU\_ROAD & 93.87 \% & 85.79 \% & 91.91 \% & 95.92 \% & 2.75 \% & 4.08 \%\\
URBAN\_ROAD & 95.39 \% & 88.27 \% & 93.54 \% & 97.32 \% & 3.70 \% & 2.68 \%
\end{tabular}