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 |
Challenge Labels
Note that we use a different label map for our ICRA-challenges on 2D semantic segmentation and 3D semantic segmentation. The label files can be downloaded from the competition websites or here:
The mapping from the original 64 class ontology to the challenge labels can be downloaded as well: