\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 & 93.65 \% & 88.55 \% & 94.28 \% & 93.03 \% & 2.57 \% & 6.97 \%\\
UMM\_ROAD & 94.17 \% & 92.70 \% & 96.73 \% & 91.74 \% & 3.41 \% & 8.26 \%\\
UU\_ROAD & 91.76 \% & 86.84 \% & 93.06 \% & 90.50 \% & 2.20 \% & 9.50 \%\\
URBAN\_ROAD & 93.43 \% & 89.67 \% & 95.09 \% & 91.82 \% & 2.61 \% & 8.18 \%
\end{tabular}