\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 & 94.91 \% & 86.41 \% & 91.92 \% & 98.11 \% & 3.93 \% & 1.89 \%\\
UMM\_ROAD & 97.08 \% & 92.06 \% & 96.03 \% & 98.16 \% & 4.46 \% & 1.84 \%\\
UU\_ROAD & 94.01 \% & 85.24 \% & 91.31 \% & 96.88 \% & 3.00 \% & 3.12 \%\\
URBAN\_ROAD & 95.68 \% & 88.34 \% & 93.62 \% & 97.83 \% & 3.67 \% & 2.17 \%
\end{tabular}