\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
88.95 \% & 71.05 \% & 55.37 \% & 31.88 \% & 13.17 \% & 9.82 \% & 0.00 \% & 6.83 \% & 80.72 \% & 66.69 \% & 84.22 \% & 0.00 \% & 85.07 \% & 0.00 \% & 1.07 \% & 49.57 \%
\end{tabular}