\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 & 94.52 \% & 93.30 \% & 94.94 \% & 94.10 \% & 2.28 \% & 5.90 \%\\
UMM\_ROAD & 95.74 \% & 95.33 \% & 95.54 \% & 95.94 \% & 4.92 \% & 4.06 \%\\
UU\_ROAD & 90.09 \% & 91.23 \% & 91.89 \% & 88.35 \% & 2.54 \% & 11.65 \%\\
URBAN\_ROAD & 93.99 \% & 93.52 \% & 94.39 \% & 93.60 \% & 3.06 \% & 6.40 \%
\end{tabular}