\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
91.74 \% & 79.84 \% & 66.71 \% & 49.80 \% & 47.38 \% & 24.19 \% & 0.00 \% & 12.69 \% & 89.98 \% & 91.29 \% & 85.23 \% & 0.00 \% & 91.71 \% & 0.00 \% & 35.34 \% & 63.82 \%
\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
93.13 \% & 77.71 \% & 31.35 \% & 90.72 \% & 0.00 \% & 91.33 \% & 85.23 \% & 78.25 \%
\end{tabular}