\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 & 87.48 \% & 80.13 \% & 85.02 \% & 90.09 \% & 7.23 \% & 9.91 \%\\
UMM\_ROAD & 91.36 \% & 84.92 \% & 88.18 \% & 94.78 \% & 13.97 \% & 5.22 \%\\
UU\_ROAD & 80.76 \% & 68.70 \% & 85.25 \% & 76.72 \% & 4.33 \% & 23.28 \%\\
URBAN\_ROAD & 87.78 \% & 77.30 \% & 86.59 \% & 89.01 \% & 7.60 \% & 10.99 \%
\end{tabular}