\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 & 71.97 \% & 61.04 \% & 78.03 \% & 66.79 \% & 8.57 \% & 33.21 \%\\
UMM\_ROAD & 89.56 \% & 82.82 \% & 85.87 \% & 93.59 \% & 16.93 \% & 6.41 \%\\
UU\_ROAD & 70.33 \% & 61.97 \% & 83.33 \% & 60.84 \% & 3.97 \% & 39.16 \%\\
URBAN\_ROAD & 80.36 \% & 70.23 \% & 83.24 \% & 77.67 \% & 8.61 \% & 22.33 \%
\end{tabular}