\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 & 94.05 \% & 85.85 \% & 91.30 \% & 96.98 \% & 4.21 \% & 3.02 \%\\
UMM\_ROAD & 96.22 \% & 91.24 \% & 95.13 \% & 97.33 \% & 5.48 \% & 2.67 \%\\
UU\_ROAD & 93.40 \% & 85.01 \% & 91.05 \% & 95.87 \% & 3.07 \% & 4.13 \%\\
URBAN\_ROAD & 94.88 \% & 87.75 \% & 92.97 \% & 96.87 \% & 4.04 \% & 3.13 \%
\end{tabular}