\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 & 91.20 \% & 90.60 \% & 91.11 \% & 91.29 \% & 4.06 \% & 8.71 \%\\
UMM\_ROAD & 92.98 \% & 92.89 \% & 91.84 \% & 94.15 \% & 9.20 \% & 5.85 \%\\
UU\_ROAD & 89.62 \% & 88.93 \% & 89.10 \% & 90.14 \% & 3.59 \% & 9.86 \%\\
URBAN\_ROAD & 91.61 \% & 90.96 \% & 91.04 \% & 92.20 \% & 5.00 \% & 7.80 \%
\end{tabular}