\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 & 96.10 \% & 92.00 \% & 96.89 \% & 95.32 \% & 1.39 \% & 4.68 \%\\
UMM\_ROAD & 97.98 \% & 94.28 \% & 97.67 \% & 98.29 \% & 2.58 \% & 1.71 \%\\
UU\_ROAD & 96.18 \% & 90.03 \% & 95.94 \% & 96.42 \% & 1.33 \% & 3.58 \%\\
URBAN\_ROAD & 96.95 \% & 92.22 \% & 96.88 \% & 97.02 \% & 1.72 \% & 2.98 \%
\end{tabular}