\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 & 94.58 \% & 93.42 \% & 95.20 \% & 93.98 \% & 2.16 \% & 6.02 \%\\
UMM\_ROAD & 96.59 \% & 95.40 \% & 96.29 \% & 96.90 \% & 4.11 \% & 3.10 \%\\
UU\_ROAD & 93.49 \% & 92.19 \% & 93.46 \% & 93.52 \% & 2.13 \% & 6.48 \%\\
URBAN\_ROAD & 95.21 \% & 93.71 \% & 95.35 \% & 95.08 \% & 2.56 \% & 4.92 \%
\end{tabular}