Fine annotation: 2975 training, 500 validation, and 1525 testing (no public access to test labels)
Coarse annotation: Available for all training and validation images and for another set of 19998 training images (train_extra)
Data outlier: troisdorf_000000_000073_leftImg8bit is a totally black image
Number of classes: 34
| name | id | trainId | category | catId | hasInstances | ignoreInEval | color | pixel-wise occ [%] |
|---|---|---|---|---|---|---|---|---|
| 'unlabeled' | 0 | 255 | 'void' | 0 | False | True | ( 0, 0, 0) ) | 0.01 |
| 'ego vehicle' | 1 | 255 | 'void' | 0 | False | True | ( 0, 0, 0) ) | 4.6 |
| 'rectification border' | 2 | 255 | 'void' | 0 | False | True | ( 0, 0, 0) ) | 1.4 |
| 'out of roi' | 3 | 255 | 'void' | 0 | False | True | ( 0, 0, 0) ) | 1.5 |
| 'static' | 4 | 255 | 'void' | 0 | False | True | ( 0, 0, 0) ) | 1.36 |
| 'dynamic' | 5 | 255 | 'void' | 0 | False | True | (111, 74, 0) ) | 0.31 |
| 'ground' | 6 | 255 | 'void' | 0 | False | True | ( 81, 0, 81) ) | 1.29 |
| 'road' | 7 | 0 | 'flat' | 1 | False | False | (128, 64,128) ) | 32.7 |
| 'sidewalk' | 8 | 1 | 'flat' | 1 | False | False | (244, 35,232) ) | 5.3 |
| 'parking' | 9 | 255 | 'flat' | 1 | False | True | (250,170,160) ) | 0.6 |
| 'rail track' | 10 | 255 | 'flat' | 1 | False | True | (230,150,140) ) | 0.16 |
| 'building' | 11 | 2 | 'construction' | 2 | False | False | ( 70, 70, 70) ) | 20.1 |
| 'wall' | 12 | 3 | 'construction' | 2 | False | False | (102,102,156) ) | 0.59 |
| 'fence' | 13 | 4 | 'construction' | 2 | False | False | (190,153,153) ) | 0.77 |
| 'guard rail' | 14 | 255 | 'construction' | 2 | False | True | (180,165,180) ) | 0.008 |
| 'bridge' | 15 | 255 | 'construction' | 2 | False | True | (150,100,100) ) | 0.25 |
| 'tunnel' | 16 | 255 | 'construction' | 2 | False | True | (150,120, 90) ) | 0.0461 |
| 'pole' | 17 | 5 | 'object' | 3 | False | False | (153,153,153) ) | 1.1243 |
| 'polegroup' | 18 | 255 | 'object' | 3 | False | True | (153,153,153) ) | 0 |
| 'traffic light' | 19 | 6 | 'object' | 3 | False | False | (250,170, 30) ) | 0.1823 |
| 'traffic sign' | 20 | 7 | 'object' | 3 | False | False | (220,220, 0) ) | 0.5015 |
| 'vegetation' | 21 | 8 | 'nature' | 4 | False | False | (107,142, 35) ) | 14.3 |
| 'terrain' | 22 | 9 | 'nature' | 4 | False | False | (152,251,152) ) | 0.98 |
| 'sky' | 23 | 10 | 'sky' | 5 | False | False | ( 70,130,180) ) | 3.5 |
| 'person' | 24 | 11 | 'human' | 6 | True | False | (220, 20, 60) ) | 1.1 |
| 'rider' | 25 | 12 | 'human' | 6 | True | False | (255, 0, 0) ) | 0.1295 |
| 'car' | 26 | 13 | 'vehicle' | 7 | True | False | ( 0, 0,142) ) | 6.0 |
| 'truck' | 27 | 14 | 'vehicle' | 7 | True | False | ( 0, 0, 70) ) | 0.2406 |
| 'bus' | 28 | 15 | 'vehicle' | 7 | True | False | ( 0, 60,100) ) | 0.2271 |
| 'caravan' | 29 | 255 | 'vehicle' | 7 | True | True | ( 0, 0, 90) ) | 0.0349 |
| 'trailer' | 30 | 255 | 'vehicle' | 7 | True | True | ( 0, 0,110) ) | 0.0206 |
| 'train' | 31 | 16 | 'vehicle' | 7 | True | False | ( 0, 80,100) ) | 0.1907 |
| 'motorcycle' | 32 | 17 | 'vehicle' | 7 | True | False | ( 0, 0,230) ) | 0.0848 |
| 'bicycle' | 33 | 18 | 'vehicle' | 7 | True | False | (119, 11, 32) ) | 0.4030 |
| 'license plate' | -1 | -1 | 'vehicle' | 7 | False | True | ( 0, 0,142) ) |