\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 & 97.25 \% & 93.52 \% & 97.48 \% & 97.03 \% & 1.14 \% & 2.97 \%\\
UMM\_ROAD & 98.10 \% & 95.63 \% & 97.98 \% & 98.22 \% & 2.23 \% & 1.78 \%\\
UU\_ROAD & 97.08 \% & 92.87 \% & 96.83 \% & 97.34 \% & 1.04 \% & 2.66 \%\\
URBAN\_ROAD & 97.55 \% & 93.98 \% & 97.57 \% & 97.53 \% & 1.34 \% & 2.47 \%
\end{tabular}