\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 & 94.55 \% & 93.12 \% & 94.81 \% & 94.29 \% & 2.35 \% & 5.71 \%\\
UMM\_ROAD & 96.75 \% & 95.39 \% & 96.84 \% & 96.66 \% & 3.46 \% & 3.34 \%\\
UU\_ROAD & 94.53 \% & 92.54 \% & 94.60 \% & 94.46 \% & 1.76 \% & 5.54 \%\\
URBAN\_ROAD & 95.55 \% & 93.71 \% & 95.68 \% & 95.42 \% & 2.37 \% & 4.58 \%
\end{tabular}