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unlabeled flat-road flat-sidewalk flat-crosswalk flat-cyclinglane flat-parkingdriveway flat-railtrack flat-curb human-person human-rider vehicle-car vehicle-truck vehicle-bus vehicle-tramtrain vehicle-motorcycle vehicle-bicycle vehicle-caravan vehicle-cartrailer construction-building construction-door construction-wall construction-fenceguardrail construction-bridge construction-tunnel construction-stairs object-pole object-trafficsign object-trafficlight nature-vegetation nature-terrain sky void-ground void-dynamic void-static void-unclear |