\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 & 95.74 \% & 92.95 \% & 95.31 \% & 96.18 \% & 2.16 \% & 3.82 \%\\
UMM\_ROAD & 96.97 \% & 95.35 \% & 96.97 \% & 96.97 \% & 3.33 \% & 3.03 \%\\
UU\_ROAD & 95.65 \% & 92.40 \% & 95.33 \% & 95.97 \% & 1.53 \% & 4.03 \%\\
URBAN\_ROAD & 96.26 \% & 93.58 \% & 96.08 \% & 96.43 \% & 2.17 \% & 3.57 \%
\end{tabular}