\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 & 78.98 \% & 80.06 \% & 75.94 \% & 82.27 \% & 11.88 \% & 17.73 \%\\
UMM\_ROAD & 83.62 \% & 85.74 \% & 79.81 \% & 87.81 \% & 24.42 \% & 12.19 \%\\
UU\_ROAD & 78.75 \% & 73.60 \% & 77.63 \% & 79.90 \% & 7.50 \% & 20.10 \%\\
URBAN\_ROAD & 81.08 \% & 81.68 \% & 78.14 \% & 84.24 \% & 12.98 \% & 15.76 \%
\end{tabular}