\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 & 96.46 \% & 92.78 \% & 96.32 \% & 96.60 \% & 1.68 \% & 3.40 \%\\
UMM\_ROAD & 97.68 \% & 95.13 \% & 97.28 \% & 98.09 \% & 3.02 \% & 1.91 \%\\
UU\_ROAD & 96.11 \% & 91.71 \% & 95.86 \% & 96.37 \% & 1.36 \% & 3.63 \%\\
URBAN\_ROAD & 96.89 \% & 93.25 \% & 96.51 \% & 97.27 \% & 1.94 \% & 2.73 \%
\end{tabular}