\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 & 96.01 \% & 91.83 \% & 96.84 \% & 95.19 \% & 1.41 \% & 4.81 \%\\
UMM\_ROAD & 97.91 \% & 93.96 \% & 97.45 \% & 98.37 \% & 2.83 \% & 1.63 \%\\
UU\_ROAD & 96.10 \% & 89.59 \% & 95.97 \% & 96.22 \% & 1.32 \% & 3.78 \%\\
URBAN\_ROAD & 96.87 \% & 91.91 \% & 96.73 \% & 97.01 \% & 1.81 \% & 2.99 \%
\end{tabular}