\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 & 94.06 \% & 90.89 \% & 94.62 \% & 93.50 \% & 2.42 \% & 6.50 \%\\
UMM\_ROAD & 96.26 \% & 93.32 \% & 95.63 \% & 96.90 \% & 4.86 \% & 3.10 \%\\
UU\_ROAD & 93.14 \% & 90.00 \% & 93.31 \% & 92.98 \% & 2.17 \% & 7.02 \%\\
URBAN\_ROAD & 94.85 \% & 91.48 \% & 94.81 \% & 94.89 \% & 2.86 \% & 5.11 \%
\end{tabular}