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ABS has been shown in scientific testings to best pro pilots in braking distance in all road conditions, except on dry, flat, perfect asphalt. On the wet, bumpy road, the ABS could stop 20% faster than pros, while the human pro-pilots could stop slightly faster on the dry, flat patch (and average experienced drivers were performing marginally worse than ABS in this simple situation, unexperienced drivers would get as much as 20% increase again).
So, the conclusion is that you should trust your ABS on open roads, it will outperform you in almost all situations, because surprise, fear and unknown pavement condition makes it improbable that you'll reach perfect threshold braking.
On sand or gravel (and sometimes wet leaves), ABS doesn't work well though, so stay alert and prepare to release if you don't feel the ABS pumping in roads with these hazards.
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