\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 & 92.08 \% & 82.73 \% & 87.87 \% & 96.72 \% & 6.08 \% & 3.28 \%\\
UMM\_ROAD & 95.43 \% & 89.10 \% & 92.78 \% & 98.24 \% & 8.41 \% & 1.76 \%\\
UU\_ROAD & 92.62 \% & 83.12 \% & 88.97 \% & 96.58 \% & 3.90 \% & 3.42 \%\\
URBAN\_ROAD & 93.74 \% & 85.37 \% & 90.36 \% & 97.38 \% & 5.72 \% & 2.62 \%
\end{tabular}