\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 & 97.29 \% & 92.66 \% & 97.37 \% & 97.20 \% & 1.20 \% & 2.80 \%\\
UMM\_ROAD & 98.19 \% & 94.80 \% & 97.88 \% & 98.50 \% & 2.34 \% & 1.50 \%\\
UU\_ROAD & 96.91 \% & 91.17 \% & 96.53 \% & 97.30 \% & 1.14 \% & 2.70 \%\\
URBAN\_ROAD & 97.59 \% & 92.93 \% & 97.33 \% & 97.84 \% & 1.48 \% & 2.16 \%
\end{tabular}