\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 & 73.69 \% & 76.68 \% & 69.18 \% & 78.83 \% & 16.00 \% & 21.17 \%\\
UMM\_ROAD & 86.21 \% & 84.40 \% & 82.85 \% & 89.86 \% & 20.45 \% & 10.14 \%\\
UU\_ROAD & 72.25 \% & 66.61 \% & 71.96 \% & 72.54 \% & 9.21 \% & 27.46 \%\\
URBAN\_ROAD & 79.02 \% & 78.80 \% & 76.64 \% & 81.55 \% & 13.69 \% & 18.45 \%
\end{tabular}