\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 & 89.55 \% & 80.00 \% & 84.87 \% & 94.78 \% & 7.70 \% & 5.22 \%\\
UMM\_ROAD & 89.51 \% & 83.53 \% & 86.64 \% & 92.58 \% & 15.69 \% & 7.42 \%\\
UU\_ROAD & 84.49 \% & 72.35 \% & 77.13 \% & 93.40 \% & 9.02 \% & 6.60 \%\\
URBAN\_ROAD & 88.25 \% & 79.24 \% & 83.62 \% & 93.44 \% & 10.08 \% & 6.56 \%
\end{tabular}