\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 & 94.24 \% & 92.43 \% & 93.45 \% & 95.04 \% & 3.04 \% & 4.96 \%\\
UMM\_ROAD & 95.94 \% & 95.31 \% & 96.21 \% & 95.67 \% & 4.14 \% & 4.33 \%\\
UU\_ROAD & 92.78 \% & 91.08 \% & 91.86 \% & 93.71 \% & 2.71 \% & 6.29 \%\\
URBAN\_ROAD & 94.62 \% & 93.05 \% & 94.28 \% & 94.96 \% & 3.17 \% & 5.04 \%
\end{tabular}