\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 & 93.73 \% & 87.62 \% & 93.25 \% & 94.21 \% & 3.11 \% & 5.79 \%\\
UMM\_ROAD & 94.87 \% & 91.31 \% & 95.21 \% & 94.53 \% & 5.23 \% & 5.47 \%\\
UU\_ROAD & 92.91 \% & 84.95 \% & 90.98 \% & 94.91 \% & 3.06 \% & 5.09 \%\\
URBAN\_ROAD & 94.05 \% & 88.29 \% & 93.57 \% & 94.53 \% & 3.58 \% & 5.47 \%
\end{tabular}