\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 & 96.18 \% & 92.46 \% & 95.86 \% & 96.51 \% & 1.90 \% & 3.49 \%\\
UMM\_ROAD & 97.82 \% & 95.20 \% & 97.55 \% & 98.08 \% & 2.71 \% & 1.92 \%\\
UU\_ROAD & 96.17 \% & 91.83 \% & 95.70 \% & 96.64 \% & 1.41 \% & 3.36 \%\\
URBAN\_ROAD & 96.91 \% & 93.22 \% & 96.59 \% & 97.24 \% & 1.89 \% & 2.76 \%
\end{tabular}