{
  "0": "road",
  "1": "sidewalk",
  "2": "building",
  "3": "wall",
  "4": "fence",
  "5": "pole",
  "6": "traffic light",
  "7": "traffic sign",
  "8": "vegetation",
  "9": "terrain",
  "10": "sky",
  "11": "person",
  "12": "rider",
  "13": "car",
  "14": "truck",
  "15": "bus",
  "16": "train",
  "17": "motorcycle",
  "18": "bicycle"
}