Class Definitions

IDs, colors and classes of our labeling policy can be obtained from here. Below is a simplified excerpt of the table as well as a schematic view of the full ontology.

Group	Class
Animal	animal
Construction	bridge, building, container, debris, fence, guard_rail, tunnel, wall, wire
Human	person, rider
Object	obstacle, pole, street_light, rock, barrel, pipe
Road	bikeway, curb, pedestrian_crossing, rail_track, road_marking, sidewalk
Sign	barrier_tape, misc_sign, traffic_cone, traffic_light, traffic_sign, road_block, boom_barrier
Sky	sky
Terrain	asphalt, cobble, gravel, soil, snow
Vegetation	bush, crops, forest, hedge, high_grass, leaves, low_grass, moss, scenery_vegetation, tree_crown, tree_trunk, tree_root
Vehicle	bicycle, bus, car, caravan, heavy_machinery, kick_scooter, motorcycle, on_rails, trailer, truck
Void	ego_vehicle, outlier, undefined
Water	water