\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 & 76.43 \% & 83.24 \% & 75.53 \% & 77.35 \% & 11.42 \% & 22.65 \%\\
UMM\_ROAD & 90.77 \% & 92.44 \% & 89.35 \% & 92.23 \% & 12.08 \% & 7.77 \%\\
UU\_ROAD & 76.07 \% & 79.97 \% & 71.47 \% & 81.31 \% & 10.57 \% & 18.69 \%\\
URBAN\_ROAD & 82.44 \% & 87.37 \% & 80.60 \% & 84.36 \% & 11.18 \% & 15.64 \%
\end{tabular}