\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 & 89.87 \% & 83.03 \% & 91.28 \% & 88.49 \% & 3.85 \% & 11.51 \%\\
UMM\_ROAD & 93.32 \% & 93.19 \% & 95.39 \% & 91.34 \% & 4.85 \% & 8.66 \%\\
UU\_ROAD & 86.55 \% & 81.13 \% & 90.71 \% & 82.75 \% & 2.76 \% & 17.25 \%\\
URBAN\_ROAD & 90.67 \% & 84.79 \% & 93.06 \% & 88.41 \% & 3.63 \% & 11.59 \%
\end{tabular}