\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 & 91.99 \% & 92.54 \% & 92.75 \% & 91.24 \% & 3.25 \% & 8.76 \%\\
UMM\_ROAD & 93.98 \% & 95.19 \% & 94.47 \% & 93.49 \% & 6.01 \% & 6.51 \%\\
UU\_ROAD & 90.79 \% & 91.67 \% & 91.79 \% & 89.80 \% & 2.62 \% & 10.20 \%\\
URBAN\_ROAD & 92.55 \% & 93.21 \% & 92.94 \% & 92.16 \% & 3.86 \% & 7.84 \%
\end{tabular}