\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 & 96.57 \% & 90.71 \% & 96.65 \% & 96.49 \% & 1.53 \% & 3.51 \%\\
UMM\_ROAD & 97.94 \% & 93.79 \% & 97.93 \% & 97.95 \% & 2.27 \% & 2.05 \%\\
UU\_ROAD & 96.57 \% & 89.77 \% & 96.29 \% & 96.85 \% & 1.22 \% & 3.15 \%\\
URBAN\_ROAD & 97.20 \% & 91.55 \% & 97.15 \% & 97.25 \% & 1.57 \% & 2.75 \%
\end{tabular}