\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 & 96.88 \% & 92.19 \% & 98.28 \% & 95.52 \% & 0.76 \% & 4.48 \%\\
UMM\_ROAD & 97.20 \% & 93.96 \% & 98.12 \% & 96.29 \% & 2.03 \% & 3.71 \%\\
UU\_ROAD & 96.60 \% & 90.63 \% & 97.23 \% & 95.97 \% & 0.89 \% & 4.03 \%\\
URBAN\_ROAD & 96.96 \% & 92.27 \% & 97.95 \% & 95.99 \% & 1.11 \% & 4.01 \%
\end{tabular}