\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
91.39 \% & 76.76 \% & 59.11 \% & 41.89 \% & 37.17 \% & 17.37 \% & 0.00 \% & 11.64 \% & 86.05 \% & 87.49 \% & 81.03 \% & 0.00 \% & 84.31 \% & 0.00 \% & 26.91 \% & 58.43 \%
\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
91.80 \% & 68.56 \% & 19.32 \% & 87.29 \% & 0.00 \% & 83.92 \% & 81.03 \% & 71.99 \%
\end{tabular}