\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 & 92.75 \% & 89.98 \% & 90.09 \% & 95.58 \% & 4.79 \% & 4.42 \%\\
UMM\_ROAD & 96.05 \% & 95.03 \% & 95.79 \% & 96.31 \% & 4.66 \% & 3.69 \%\\
UU\_ROAD & 92.29 \% & 90.35 \% & 90.81 \% & 93.81 \% & 3.09 \% & 6.19 \%\\
URBAN\_ROAD & 94.07 \% & 92.03 \% & 92.81 \% & 95.37 \% & 4.07 \% & 4.63 \%
\end{tabular}