\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 & 96.39 \% & 92.28 \% & 95.75 \% & 97.05 \% & 1.96 \% & 2.95 \%\\
UMM\_ROAD & 97.91 \% & 95.16 \% & 97.75 \% & 98.08 \% & 2.48 \% & 1.92 \%\\
UU\_ROAD & 96.44 \% & 91.85 \% & 95.89 \% & 97.00 \% & 1.36 \% & 3.00 \%\\
URBAN\_ROAD & 97.09 \% & 93.08 \% & 96.76 \% & 97.43 \% & 1.80 \% & 2.57 \%
\end{tabular}