\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 & 85.95 \% & 81.28 \% & 77.40 \% & 96.64 \% & 12.86 \% & 3.36 \%\\
UMM\_ROAD & 91.15 \% & 87.45 \% & 85.08 \% & 98.15 \% & 18.92 \% & 1.85 \%\\
UU\_ROAD & 80.45 \% & 75.87 \% & 68.63 \% & 97.19 \% & 14.48 \% & 2.81 \%\\
URBAN\_ROAD & 86.81 \% & 82.15 \% & 78.26 \% & 97.47 \% & 14.92 \% & 2.53 \%
\end{tabular}