\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 & 85.33 \% & 72.14 \% & 81.21 \% & 89.89 \% & 9.48 \% & 10.11 \%\\
UMM\_ROAD & 93.26 \% & 87.15 \% & 90.63 \% & 96.06 \% & 10.92 \% & 3.94 \%\\
UU\_ROAD & 86.06 \% & 72.05 \% & 82.61 \% & 89.82 \% & 6.16 \% & 10.18 \%\\
URBAN\_ROAD & 89.12 \% & 81.23 \% & 85.80 \% & 92.71 \% & 8.45 \% & 7.29 \%
\end{tabular}