\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 & 91.57 \% & 84.68 \% & 90.02 \% & 93.19 \% & 4.71 \% & 6.81 \%\\
UMM\_ROAD & 92.75 \% & 90.24 \% & 94.03 \% & 91.50 \% & 6.39 \% & 8.50 \%\\
UU\_ROAD & 85.69 \% & 75.12 \% & 80.17 \% & 92.02 \% & 7.42 \% & 7.98 \%\\
URBAN\_ROAD & 90.59 \% & 84.24 \% & 89.11 \% & 92.13 \% & 6.20 \% & 7.87 \%
\end{tabular}