\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 & 96.94 \% & 93.62 \% & 97.09 \% & 96.79 \% & 1.32 \% & 3.21 \%\\
UMM\_ROAD & 97.90 \% & 95.58 \% & 97.64 \% & 98.17 \% & 2.61 \% & 1.83 \%\\
UU\_ROAD & 96.32 \% & 92.99 \% & 96.20 \% & 96.44 \% & 1.24 \% & 3.56 \%\\
URBAN\_ROAD & 97.22 \% & 94.02 \% & 97.15 \% & 97.29 \% & 1.57 \% & 2.71 \%
\end{tabular}