\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 & 95.71 \% & 93.56 \% & 95.84 \% & 95.59 \% & 1.89 \% & 4.41 \%\\
UMM\_ROAD & 96.79 \% & 95.61 \% & 97.03 \% & 96.54 \% & 3.25 \% & 3.46 \%\\
UU\_ROAD & 95.11 \% & 92.94 \% & 95.91 \% & 94.32 \% & 1.31 \% & 5.68 \%\\
URBAN\_ROAD & 96.02 \% & 94.01 \% & 96.43 \% & 95.62 \% & 1.95 \% & 4.38 \%
\end{tabular}