\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 & 94.38 \% & 92.72 \% & 94.70 \% & 94.06 \% & 2.40 \% & 5.94 \%\\
UMM\_ROAD & 96.10 \% & 95.03 \% & 95.48 \% & 96.73 \% & 5.03 \% & 3.27 \%\\
UU\_ROAD & 93.24 \% & 91.83 \% & 93.19 \% & 93.28 \% & 2.22 \% & 6.72 \%\\
URBAN\_ROAD & 94.83 \% & 93.24 \% & 94.77 \% & 94.89 \% & 2.88 \% & 5.11 \%
\end{tabular}