\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 & 94.62 \% & 89.50 \% & 95.32 \% & 93.93 \% & 2.10 \% & 6.07 \%\\
UMM\_ROAD & 96.72 \% & 92.99 \% & 97.05 \% & 96.40 \% & 3.22 \% & 3.60 \%\\
UU\_ROAD & 94.40 \% & 87.84 \% & 94.17 \% & 94.63 \% & 1.91 \% & 5.37 \%\\
URBAN\_ROAD & 95.53 \% & 90.35 \% & 95.84 \% & 95.24 \% & 2.28 \% & 4.76 \%
\end{tabular}