\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 & 95.16 \% & 89.18 \% & 94.97 \% & 95.36 \% & 2.30 \% & 4.64 \%\\
UMM\_ROAD & 96.88 \% & 93.71 \% & 97.85 \% & 95.94 \% & 2.32 \% & 4.06 \%\\
UU\_ROAD & 95.25 \% & 88.02 \% & 94.36 \% & 96.16 \% & 1.87 \% & 3.84 \%\\
URBAN\_ROAD & 95.97 \% & 90.61 \% & 96.12 \% & 95.82 \% & 2.13 \% & 4.18 \%
\end{tabular}