\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 & 97.05 \% & 93.53 \% & 97.18 \% & 96.92 \% & 1.28 \% & 3.08 \%\\
UMM\_ROAD & 97.77 \% & 95.64 \% & 97.75 \% & 97.79 \% & 2.48 \% & 2.21 \%\\
UU\_ROAD & 95.95 \% & 95.25 \% & 96.25 \% & 95.65 \% & 1.21 \% & 4.35 \%\\
URBAN\_ROAD & 97.03 \% & 94.03 \% & 97.19 \% & 96.88 \% & 1.54 \% & 3.12 \%
\end{tabular}