\begin{tabular}{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 rider} & {\bf car} & {\bf truck} & {\bf motorcycle} & {\bf mIoU class}\\ \hline
94.76 \% & 84.68 \% & 69.81 \% & 59.79 \% & 59.60 \% & 58.67 \% & 0.00 \% & 31.61 \% & 92.59 \% & 92.98 \% & 85.62 \% & 0.00 \% & 96.14 \% & 0.00 \% & 50.50 \% & 73.06 \%
\end{tabular}