| Classes | Log-Average Miss Rate | AP | mAP |
| person | 30.04% | 84.65% | 91.5% |
| bus | 10.04% | 92.94% | |
| car | 18.40% | 91.09% | |
| motorbike | 14.15% | 91.56% | |
| bicycle | 15.31% | 93.61% | |
| cat | 10.07% | 93.73% | |
| dog | 15.01% | 90.93% |