\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 & 93.99 \% & 93.24 \% & 94.51 \% & 93.48 \% & 2.47 \% & 6.52 \%\\
UMM\_ROAD & 96.15 \% & 95.36 \% & 95.79 \% & 96.51 \% & 4.67 \% & 3.49 \%\\
UU\_ROAD & 93.69 \% & 92.55 \% & 94.24 \% & 93.14 \% & 1.85 \% & 6.86 \%\\
URBAN\_ROAD & 94.88 \% & 93.71 \% & 94.84 \% & 94.91 \% & 2.85 \% & 5.09 \%
\end{tabular}