\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 & 97.17 \% & 93.41 \% & 97.09 \% & 97.24 \% & 1.33 \% & 2.76 \%\\
UMM\_ROAD & 98.15 \% & 95.46 \% & 98.07 \% & 98.23 \% & 2.12 \% & 1.77 \%\\
UU\_ROAD & 97.02 \% & 92.33 \% & 96.75 \% & 97.29 \% & 1.06 \% & 2.71 \%\\
URBAN\_ROAD & 97.56 \% & 93.74 \% & 97.43 \% & 97.69 \% & 1.42 \% & 2.31 \%
\end{tabular}