| 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 |