\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 & 90.99 \% & 85.26 \% & 90.65 \% & 91.33 \% & 4.29 \% & 8.67 \%\\
UMM\_ROAD & 91.95 \% & 86.44 \% & 94.01 \% & 89.98 \% & 6.30 \% & 10.02 \%\\
UU\_ROAD & 88.53 \% & 80.79 \% & 86.41 \% & 90.76 \% & 4.65 \% & 9.24 \%\\
URBAN\_ROAD & 90.81 \% & 86.01 \% & 91.05 \% & 90.57 \% & 4.90 \% & 9.43 \%
\end{tabular}