Table 3. Comparison among various experimental results produced on the Cityspaces validation set.

class	HRNet	OCNet	STDC	ECMNet
road	98.1	97.7	98	98.6
sidewalk	83.6	82.8	84.3	86.5
building	92.0	90.7	92.0	93.6
wall	46.1	47.2	56.7	59.7
fence	52.5	49.9	60.1	63.2
pole	63.0	55.6	62.6	64.7
t-light	70.3	66.4	68.6	70.6
t-sign	75.6	70.8	76.5	77.7
vegetation	92.9	91.7	92.2	93.4
terrain	70.1	69.8	66.7	65.9
sky	95.2	94.2	94.4	95.8
person	83.8	80.3	80.7	81.7
rider	64.3	62.7	62.0	60.5
car	95.0	94.0	94.7	95.5
truck	63.6	64.0	80.2	84.9
bus	77.7	75.5	85.6	90.6
train	71.7	63.7	78.7	81.9
motor	61.3	61.7	53.7	63.1
bike	73.4	69.4	74.5	76.8
MIoU	75.3	73.1	77.0	79.2