\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 & 96.01 \% & 92.47 \% & 96.60 \% & 95.43 \% & 1.53 \% & 4.57 \%\\
UMM\_ROAD & 97.82 \% & 94.29 \% & 97.39 \% & 98.25 \% & 2.90 \% & 1.75 \%\\
UU\_ROAD & 95.78 \% & 90.75 \% & 95.62 \% & 95.95 \% & 1.43 \% & 4.05 \%\\
URBAN\_ROAD & 96.74 \% & 92.54 \% & 96.79 \% & 96.69 \% & 1.76 \% & 3.31 \%
\end{tabular}