\begin{tabular}{c | c | c | c | c | c | c | c | c | c | c | c | c | c | c | c | c}
{\bf road} & {\bf sidewalk} & {\bf building} & {\bf wall} & {\bf fence} & {\bf pole} & {\bf traffic light} & {\bf traffic sign} & {\bf vegetation} & {\bf terrain} & {\bf sky} & {\bf person} & {\bf rider} & {\bf car} & {\bf truck} & {\bf motorcycle} & {\bf bicycle} & {\bf mIoU class}\\ \hline
96.60 \% & 87.34 \% & 87.02 \% & 65.00 \% & 55.61 \% & 40.07 \% & 0.00 \% & 43.04 \% & 92.56 \% & 88.41 \% & 91.93 \% & 55.51 \% & 48.30 \% & 95.59 \% & 60.38 \% & 52.07 \% & 44.12 \% & 64.92 \%
\end{tabular}

\begin{tabular}{c | c | c | c | c | c | c}
{\bf flat} & {\bf construction} & {\bf object} & {\bf nature} & {\bf human} & {\bf vehicle} & {\bf sky} & {\bf mIoU category}\\ \hline
96.93 \% & 86.91 \% & 44.22 \% & 93.56 \% & 66.08 \% & 95.56 \% & 91.93 \% & 82.17 \%
\end{tabular}