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Datasets for Autonomous Driving with Segmentation Labels

List of datsets with image segmentation labels. For more detailed information on individual datasets, see other files. Cityscapes, CamVid, Kitti, Berkely DeepDrive, Playing for Data and SynScapes have the same annotation guideline.

Segmentation image taken from the Cityscapes dataset.

Name Annotated Images Instances Label Type Domain License Web
Audi A2D2 41,280 x** RGB Real CC BY-ND 4.0 link
Cityscapes 3,475* x RGB, grayscale Real license link
CamVid 701 RGB Real link
Synthia Sequences 31.927‬ x RGB, grayscale Synthetic CC BY-NC-SA 3.0 link
Synthia Rand 13,407 RGB Synthetic CC BY-NC-SA 3.0 link
Synthia Rand Cityscapes 9,400 x RGB, grayscale Synthetic CC BY-NC-SA 3.0 link
Playing for Data 24,966 RGB Synthetic link
SynScapes 25,000 x grayscale Synthetic license link
Kitti 400 x RGB, grayscale Real CC BY-NC-SA 3.0 link
ApolloScape 146,997 x*** RGB Real license link
Berkeley DeepDrive 10,000 x RGB, grayscale Real link

*20,000 weak annotations in addition

**up to three different colors for instances of the same class

***For a subset of 74,555 frames

Share of Class Labels in Total Datasets

Cityscapes

Playing for Data

Synthia Sequences

Synthia Rand Cityscapes

Synthia Rand