\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 & 95.21 \% & 88.30 \% & 94.00 \% & 96.46 \% & 2.81 \% & 3.54 \%\\
UMM\_ROAD & 96.61 \% & 91.12 \% & 94.99 \% & 98.29 \% & 5.70 \% & 1.71 \%\\
UU\_ROAD & 94.07 \% & 86.50 \% & 92.69 \% & 95.49 \% & 2.45 \% & 4.51 \%\\
URBAN\_ROAD & 95.58 \% & 88.81 \% & 94.14 \% & 97.07 \% & 3.33 \% & 2.93 \%
\end{tabular}