Which is the better way to build URL's when i have two langauges on my site - is it to translate page names in URL's for other languages, or to leave page names the same on every language?

With examples to illustrate my question, we have a):

For English: /en/about-us
For German: /de/about-us

Which in my opinion should be preferred, because the search engine gets a clearer image of the sitemap.

Or b):

For English: /en/about-us
For German: /de/uber-uns

Which some people tell me is preferred due to search engines finding better results for inqueries in those languages.