| id | name | description | attributes |
|---|---|---|---|
| 0 | pedestrian | - | yes |
| 1 | rider | - | yes |
| 2 | car | - | yes |
| 3 | truck | - | yes |
| 4 | bus | - | yes |
| 5 | train | - | yes |
| 6 | motorcycle | - | yes |
| 7 | bicycle | - | yes |
| 8 | trailer | - | yes |
| 9 | other vehicle | - | yes |
| 10 | other person | - | yes |
| 11 | traffic light | - | yes |
| 12 | traffic sign | - | yes |