| id | name | description | has instances | attributes |
|---|---|---|---|---|
| 1 | road | - | yes | - |
| 2 | sidewalk | - | yes | - |
| 3 | parking | - | yes | - |
| 4 | rail track | - | yes | - |
| 5 | person | - | yes | - |
| 6 | rider | - | yes | - |
| 7 | car | - | yes | - |
| 8 | truck | - | yes | - |
| 9 | bus | - | yes | - |
| 10 | on rails | - | yes | - |
| 11 | motorcycle | - | yes | - |
| 12 | bicycle | - | yes | - |
| 13 | caravan | - | yes | - |
| 14 | trailer | - | yes | - |
| 15 | building | - | yes | - |
| 16 | wall | - | yes | - |
| 17 | fence | - | yes | - |
| 18 | guard rail | - | yes | - |
| 19 | bridge | - | yes | - |
| 20 | tunnel | - | yes | - |
| 21 | pole | - | yes | - |
| 22 | pole group | - | yes | - |
| 23 | traffic sign | - | yes | - |
| 24 | traffic light | - | yes | - |
| 25 | vegetation | - | yes | - |
| 26 | terrain | - | yes | - |
| 27 | sky | - | yes | - |
| 28 | ground | - | yes | - |
| 29 | background | - | yes | - |