\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 & 96.42 \% & 93.67 \% & 96.59 \% & 96.26 \% & 1.55 \% & 3.74 \%\\
UMM\_ROAD & 97.47 \% & 95.63 \% & 97.32 \% & 97.61 \% & 2.96 \% & 2.39 \%\\
UU\_ROAD & 96.03 \% & 93.03 \% & 96.22 \% & 95.83 \% & 1.23 \% & 4.17 \%\\
URBAN\_ROAD & 96.75 \% & 94.07 \% & 96.90 \% & 96.61 \% & 1.70 \% & 3.39 \%
\end{tabular}