\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 & 80.97 \% & 69.11 \% & 77.51 \% & 84.76 \% & 11.21 \% & 15.24 \%\\
UMM\_ROAD & 91.76 \% & 84.80 \% & 88.05 \% & 95.80 \% & 14.30 \% & 4.20 \%\\
UU\_ROAD & 79.94 \% & 67.77 \% & 77.37 \% & 82.67 \% & 7.88 \% & 17.33 \%\\
URBAN\_ROAD & 85.69 \% & 73.83 \% & 82.34 \% & 89.33 \% & 10.56 \% & 10.67 \%
\end{tabular}