Labeling specs: https://docs.google.com/document/d/1q8wEtafGAuUHOKCL8PMH6jW2TRIlEld3eP595qbHkng/edit?usp=sharing
| id | name | description | has instances | attributes |
|---|---|---|---|---|
| 1 | flat-road | - | yes | - |
| 2 | flat-sidewalk | - | yes | - |
| 3 | flat-crosswalk | - | yes | - |
| 4 | flat-cyclinglane | - | yes | - |
| 5 | flat-parkingdriveway | - | yes | - |
| 6 | flat-railtrack | - | yes | - |
| 7 | flat-curb | - | yes | - |
| 8 | human-person | - | yes | yes |
| 9 | human-rider | - | yes | yes |
| 10 | vehicle-car | - | yes | yes |
| 11 | vehicle-truck | - | yes | yes |
| 12 | vehicle-bus | - | yes | yes |
| 13 | vehicle-tramtrain | - | yes | yes |
| 14 | vehicle-motorcycle | - | yes | yes |
| 15 | vehicle-bicycle | - | yes | yes |
| 16 | vehicle-caravan | - | yes | yes |
| 17 | vehicle-cartrailer | - | yes | yes |
| 18 | construction-building | - | yes | - |
| 19 | construction-door | - | yes | - |
| 20 | construction-wall | - | yes | - |
| 21 | construction-fenceguardrail | - | yes | - |
| 22 | construction-bridge | - | yes | - |
| 23 | construction-tunnel | - | yes | - |
| 24 | construction-stairs | - | yes | - |
| 25 | object-pole | - | yes | yes |
| 26 | object-trafficsign | - | yes | - |
| 27 | object-trafficlight | - | yes | - |
| 28 | nature-vegetation | - | yes | - |
| 29 | nature-terrain | - | yes | - |
| 30 | sky | - | yes | - |
| 31 | void-ground | - | yes | - |
| 32 | void-dynamic | - | yes | - |
| 33 | void-static | - | yes | - |
| 34 | void-unclear | - | yes | - |