\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 & 89.36 \% & 78.80 \% & 89.35 \% & 89.37 \% & 4.85 \% & 10.63 \%\\
UMM\_ROAD & 94.09 \% & 90.26 \% & 94.05 \% & 94.13 \% & 6.55 \% & 5.87 \%\\
UU\_ROAD & 86.27 \% & 75.37 \% & 86.65 \% & 85.89 \% & 4.31 \% & 14.11 \%\\
URBAN\_ROAD & 90.79 \% & 85.83 \% & 90.87 \% & 90.72 \% & 5.02 \% & 9.28 \%
\end{tabular}