\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 & 94.96 \% & 89.17 \% & 94.95 \% & 94.97 \% & 2.30 \% & 5.03 \%\\
UMM\_ROAD & 96.47 \% & 93.16 \% & 97.24 \% & 95.71 \% & 2.98 \% & 4.29 \%\\
UU\_ROAD & 93.65 \% & 87.57 \% & 93.87 \% & 93.43 \% & 1.99 \% & 6.57 \%\\
URBAN\_ROAD & 95.34 \% & 90.26 \% & 95.73 \% & 94.94 \% & 2.33 \% & 5.06 \%
\end{tabular}