\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 & 93.04 \% & 91.85 \% & 93.62 \% & 92.46 \% & 2.87 \% & 7.54 \%\\
UMM\_ROAD & 93.90 \% & 94.39 \% & 94.70 \% & 93.11 \% & 5.73 \% & 6.89 \%\\
UU\_ROAD & 91.15 \% & 90.16 \% & 89.68 \% & 92.68 \% & 3.48 \% & 7.32 \%\\
URBAN\_ROAD & 92.94 \% & 92.29 \% & 93.14 \% & 92.74 \% & 3.77 \% & 7.26 \%
\end{tabular}