\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 & 93.10 \% & 86.38 \% & 91.89 \% & 94.33 \% & 3.79 \% & 5.67 \%\\
UMM\_ROAD & 94.89 \% & 91.46 \% & 95.37 \% & 94.42 \% & 5.04 \% & 5.58 \%\\
UU\_ROAD & 89.81 \% & 82.33 \% & 88.11 \% & 91.58 \% & 4.03 \% & 8.42 \%\\
URBAN\_ROAD & 93.11 \% & 87.33 \% & 92.52 \% & 93.71 \% & 4.18 \% & 6.29 \%
\end{tabular}