\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 & 95.62 \% & 93.54 \% & 95.77 \% & 95.48 \% & 1.92 \% & 4.52 \%\\
UMM\_ROAD & 97.08 \% & 95.51 \% & 97.28 \% & 96.88 \% & 2.98 \% & 3.12 \%\\
UU\_ROAD & 94.54 \% & 92.74 \% & 94.64 \% & 94.45 \% & 1.74 \% & 5.55 \%\\
URBAN\_ROAD & 96.03 \% & 93.93 \% & 96.23 \% & 95.83 \% & 2.07 \% & 4.17 \%
\end{tabular}