\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 & 78.19 \% & 76.41 \% & 72.03 \% & 85.50 \% & 15.13 \% & 14.50 \%\\
UMM\_ROAD & 82.28 \% & 82.83 \% & 76.85 \% & 88.53 \% & 29.32 \% & 11.47 \%\\
UU\_ROAD & 73.30 \% & 69.11 \% & 65.39 \% & 83.38 \% & 14.38 \% & 16.62 \%\\
URBAN\_ROAD & 78.69 \% & 77.16 \% & 71.96 \% & 86.80 \% & 18.63 \% & 13.20 \%
\end{tabular}