\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 & 95.78 \% & 89.14 \% & 94.92 \% & 96.66 \% & 2.36 \% & 3.34 \%\\
UMM\_ROAD & 97.38 \% & 92.67 \% & 96.70 \% & 98.08 \% & 3.68 \% & 1.92 \%\\
UU\_ROAD & 94.91 \% & 86.35 \% & 92.53 \% & 97.42 \% & 2.56 \% & 2.58 \%\\
URBAN\_ROAD & 96.30 \% & 89.72 \% & 95.14 \% & 97.50 \% & 2.75 \% & 2.50 \%
\end{tabular}