| Classes | MCD [19] | ALDA [16] | CaCo [20] | SHOT [18] | STAR [21] | TVT* [22] | Baseline | SwinUDA |
| plane | 87.0 | 93.8 | 90.4 | 95.0 | 94.3 | 92.92 | 99.15 | 98.88 |
| bcycl | 60.9 | 74.1 | 80.7 | 84.0 | 88.5 | 85.58 | 80.37 | 89.50 |
| bus | 83.7 | 82.4 | 78.8 | 84.6 | 80.1 | 77.51 | 86.31 | 87.38 |
| car | 64.0 | 69.4 | 57.0 | 73.0 | 57.3 | 60.48 | 55.84 | 68.09 |
| horse | 88.9 | 90.6 | 88.9 | 91.6 | 93.1 | 93.60 | 98.19 | 98.64 |
| knife | 79.6 | 87.2 | 87.0 | 91.8 | 94.9 | 98.17 | 97.98 | 99.18 |
| mcycl | 84.7 | 89.0 | 81.3 | 85.9 | 80.7 | 89.35 | 94.93 | 95.68 |
| person | 76.9 | 67.6 | 79.4 | 78.4 | 80.3 | 76.40 | 70.93 | 81.08 |
| plant | 88.6 | 93.4 | 88.7 | 94.4 | 91.5 | 93.56 | 86.33 | 89.65 |
| sktbrd | 40.3 | 76.1 | 88.1 | 84.7 | 89.1 | 92.02 | 96.54 | 97.81 |
| train | 83.0 | 87.7 | 86.8 | 87.0 | 86.3 | 91.69 | 96.20 | 96.95 |
| truck | 25.8 | 22.2 | 63.9 | 42.2 | 58.2 | 55.73 | 44.30 | 58.70 |
| Avg | 71.9 | 77.8 | 80.9 | 82.7 | 82.9 | 83.92 | 83.92 | 88.46 |