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obstaclenot-voc2007-grid

Tasks:
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Tags:
voc2007
segmentation
robotics
binary-mask
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image_id
string
image
image
superclasses
list
voc_classes
list
tl
int64
tc
int64
tr
int64
ml
int64
mc
int64
mr
int64
bl
int64
bc
int64
br
int64
006029
[ "structure", "animal", "animal", "animal", "plant", "plant", "plant", "structure", "structure", "animal", "animal" ]
[ "tvmonitor", "person", "person", "person", "pottedplant", "pottedplant", "pottedplant", "chair", "sofa", "person", "dog" ]
1
1
0
1
1
1
1
1
1
004527
[ "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal", "animal" ]
[ "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep", "sheep" ]
0
0
0
1
1
1
0
0
0
005829
[ "animal", "animal", "animal" ]
[ "person", "person", "person" ]
1
0
0
1
1
1
1
1
1
001289
[ "animal" ]
[ "bird" ]
0
0
0
0
1
0
0
0
0
002803
[ "structure", "structure", "structure", "structure", "structure", "structure", "animal" ]
[ "chair", "chair", "chair", "chair", "chair", "chair", "person" ]
0
0
0
1
1
0
0
1
0
000180
[ "vehicle" ]
[ "car" ]
0
0
0
1
1
1
1
1
1
005996
[ "vehicle" ]
[ "motorbike" ]
1
1
1
1
1
1
1
1
1
006917
[ "object" ]
[ "bottle" ]
1
1
0
1
1
0
1
1
0
004237
[ "structure", "structure", "animal" ]
[ "tvmonitor", "tvmonitor", "person" ]
1
0
0
1
1
1
1
1
1
008108
[ "vehicle", "vehicle", "animal", "animal", "animal", "animal", "animal", "vehicle", "vehicle", "vehicle", "animal", "vehicle" ]
[ "motorbike", "motorbike", "person", "person", "person", "person", "person", "motorbike", "motorbike", "motorbike", "person", "car" ]
0
0
0
0
0
0
0
1
0
007468
[ "vehicle" ]
[ "car" ]
1
1
1
1
1
1
1
1
1
004190
[ "structure" ]
[ "tvmonitor" ]
0
0
0
1
0
0
1
0
0
004168
[ "animal", "animal" ]
[ "horse", "person" ]
0
0
0
0
0
1
0
0
1
006476
[ "animal", "animal", "vehicle" ]
[ "person", "person", "motorbike" ]
0
0
0
0
1
1
0
1
1
006859
[ "plant", "plant" ]
[ "pottedplant", "pottedplant" ]
0
1
1
0
0
1
0
0
1
004502
[ "animal" ]
[ "cat" ]
1
1
0
1
1
1
1
1
1
000912
[ "animal" ]
[ "cat" ]
0
1
1
0
1
1
0
1
1
009168
[ "animal" ]
[ "dog" ]
0
1
0
0
1
1
0
1
1
003213
[ "animal", "animal", "animal" ]
[ "person", "person", "cat" ]
1
1
1
1
1
0
1
1
0
006799
[ "animal" ]
[ "bird" ]
0
1
0
0
1
0
0
1
0
002978
[ "animal", "animal", "animal" ]
[ "cow", "cow", "cow" ]
0
0
0
1
1
1
1
0
0
006096
[ "vehicle" ]
[ "bus" ]
1
1
1
1
1
1
1
1
1
009756
[ "animal", "vehicle" ]
[ "person", "motorbike" ]
0
1
0
1
1
1
0
1
1
007943
[ "animal", "animal", "animal" ]
[ "person", "person", "person" ]
0
0
1
1
1
1
0
1
1
007910
[ "animal" ]
[ "person" ]
0
0
1
0
0
1
0
0
1
009497
[ "animal", "animal", "object", "object" ]
[ "person", "person", "bottle", "bottle" ]
0
1
0
1
1
0
1
1
0
008783
[ "object", "structure", "structure", "structure", "structure", "structure", "structure" ]
[ "bottle", "diningtable", "chair", "chair", "chair", "chair", "chair" ]
0
0
0
0
0
0
1
1
1
003807
[ "animal", "animal" ]
[ "cat", "cat" ]
1
1
1
1
1
1
1
1
1
004562
[ "animal", "animal", "structure" ]
[ "person", "person", "sofa" ]
1
1
1
0
1
1
0
0
0
006472
[ "structure" ]
[ "tvmonitor" ]
1
1
1
1
1
1
0
1
1
000685
[ "vehicle" ]
[ "motorbike" ]
1
1
1
1
1
1
1
1
1
001315
[ "structure", "animal" ]
[ "sofa", "person" ]
1
1
0
1
1
1
1
1
1
007971
[ "vehicle", "animal" ]
[ "car", "person" ]
1
1
1
1
1
1
1
1
1
001171
[ "vehicle", "animal", "animal", "animal" ]
[ "motorbike", "person", "person", "person" ]
0
0
1
1
1
1
0
1
1
007436
[ "animal", "animal" ]
[ "person", "person" ]
0
1
0
1
1
1
1
1
1
000782
[ "vehicle", "animal" ]
[ "bus", "person" ]
0
0
0
1
1
1
1
1
1
009524
[ "animal" ]
[ "person" ]
0
0
0
0
0
0
0
0
0
009955
[ "vehicle", "vehicle" ]
[ "boat", "boat" ]
0
0
0
0
1
1
0
0
0
006878
[ "structure", "structure" ]
[ "sofa", "sofa" ]
0
0
0
1
1
1
1
1
1
005306
[ "animal", "animal", "animal", "animal", "animal" ]
[ "person", "person", "person", "person", "horse" ]
0
0
0
1
1
1
1
1
1
007876
[ "animal" ]
[ "bird" ]
0
0
0
0
1
0
0
1
0
003013
[ "vehicle" ]
[ "car" ]
0
0
0
1
1
1
0
1
0
008301
[ "animal" ]
[ "person" ]
0
0
0
0
1
1
0
1
1
006671
[ "animal", "animal" ]
[ "bird", "bird" ]
0
0
0
1
1
1
0
0
0
005676
[ "plant" ]
[ "pottedplant" ]
0
1
0
0
1
1
0
1
0
005920
[ "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure" ]
[ "sofa", "diningtable", "chair", "chair", "chair", "chair", "chair", "chair", "chair" ]
0
0
0
0
0
0
1
1
0
000599
[ "structure", "structure" ]
[ "chair", "sofa" ]
0
0
0
1
1
1
1
1
0
000796
[ "animal" ]
[ "bird" ]
0
0
0
0
1
1
0
1
1
008374
[ "structure", "structure", "animal", "animal" ]
[ "tvmonitor", "tvmonitor", "person", "person" ]
0
0
0
0
1
0
0
1
0
005408
[ "animal" ]
[ "dog" ]
0
0
0
1
1
1
0
1
1
009058
[ "vehicle" ]
[ "car" ]
1
1
1
1
1
1
1
1
1
008465
[ "plant" ]
[ "pottedplant" ]
1
1
1
1
1
1
1
1
1
004793
[ "vehicle" ]
[ "car" ]
0
0
0
1
1
0
1
1
0
002444
[ "animal", "animal", "object", "object" ]
[ "person", "person", "bottle", "bottle" ]
0
0
0
0
1
1
0
1
1
002278
[ "vehicle" ]
[ "bus" ]
1
1
1
1
1
1
1
1
1
002969
[ "animal" ]
[ "bird" ]
0
0
0
0
1
1
0
1
1
007543
[ "vehicle", "vehicle", "vehicle", "animal", "animal" ]
[ "bicycle", "bicycle", "bicycle", "person", "person" ]
0
0
0
1
1
1
1
1
0
008346
[ "animal" ]
[ "dog" ]
1
1
0
1
1
0
1
1
0
000162
[ "structure", "animal" ]
[ "tvmonitor", "person" ]
0
0
0
0
1
0
0
1
0
006673
[ "vehicle", "vehicle", "vehicle", "vehicle", "vehicle", "vehicle", "vehicle", "vehicle", "vehicle", "vehicle", "vehicle", "vehicle" ]
[ "boat", "boat", "boat", "boat", "boat", "boat", "boat", "boat", "boat", "boat", "boat", "boat" ]
0
0
0
0
0
1
0
0
0
008944
[ "animal" ]
[ "person" ]
1
1
1
1
1
1
1
1
1
007571
[ "animal", "animal", "vehicle", "vehicle" ]
[ "person", "person", "bicycle", "bicycle" ]
0
0
0
0
1
0
0
1
0
009881
[ "structure", "animal", "animal" ]
[ "tvmonitor", "person", "person" ]
0
1
0
1
1
1
1
1
1
002924
[ "plant", "animal" ]
[ "pottedplant", "cat" ]
1
1
1
1
1
1
1
1
1
008117
[ "animal", "animal", "animal", "animal" ]
[ "bird", "bird", "bird", "bird" ]
0
0
0
0
1
0
1
1
1
009063
[ "vehicle", "vehicle" ]
[ "aeroplane", "aeroplane" ]
0
0
0
1
0
0
0
0
0
007776
[ "vehicle", "vehicle", "vehicle", "vehicle", "vehicle" ]
[ "train", "train", "train", "train", "train" ]
0
0
0
0
1
1
0
1
1
004857
[ "animal", "animal", "animal", "animal", "animal", "animal", "structure", "structure", "structure", "structure", "animal", "structure", "structure", "structure", "structure" ]
[ "person", "person", "person", "person", "person", "person", "diningtable", "diningtable", "diningtable", "diningtable", "person", "chair", "chair", "chair", "chair" ]
0
0
0
1
1
1
1
1
1
007261
[ "vehicle", "vehicle", "animal" ]
[ "car", "car", "person" ]
0
0
1
0
0
1
1
1
1
003242
[ "animal" ]
[ "bird" ]
0
0
0
0
1
0
0
0
0
000535
[ "vehicle", "vehicle", "animal", "animal", "animal" ]
[ "bicycle", "bicycle", "person", "person", "person" ]
0
1
0
1
1
0
0
0
0
006020
[ "structure", "structure" ]
[ "sofa", "chair" ]
1
1
1
1
1
1
1
1
1
005576
[ "vehicle" ]
[ "train" ]
0
0
0
0
0
0
1
1
1
005864
[ "structure", "structure", "structure" ]
[ "sofa", "sofa", "chair" ]
0
0
0
0
1
0
0
1
0
007373
[ "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "structure", "...
[ "diningtable", "diningtable", "diningtable", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair" ]
0
0
0
1
1
1
1
1
1
004651
[ "vehicle" ]
[ "boat" ]
0
0
0
0
0
0
0
0
0
008084
[ "animal" ]
[ "bird" ]
0
0
0
0
1
0
0
0
0
009580
[ "vehicle" ]
[ "train" ]
0
0
0
1
1
0
0
0
0
008518
[ "animal" ]
[ "dog" ]
1
1
0
1
1
0
0
0
0
007517
[ "animal" ]
[ "cat" ]
1
1
1
1
1
1
1
1
1
002335
[ "structure" ]
[ "sofa" ]
1
1
1
1
1
1
1
1
1
008226
[ "animal" ]
[ "bird" ]
1
1
0
0
0
0
0
0
0
008250
[ "vehicle", "vehicle" ]
[ "motorbike", "motorbike" ]
0
0
0
0
1
0
0
1
0
008960
[ "animal", "animal", "animal", "animal", "vehicle" ]
[ "person", "person", "person", "person", "car" ]
0
0
0
0
0
0
0
0
0
002273
[ "animal", "animal" ]
[ "horse", "person" ]
0
1
0
0
1
0
0
1
0
006062
[ "vehicle", "vehicle", "vehicle" ]
[ "car", "car", "car" ]
0
0
0
1
1
0
0
0
0
005662
[ "structure", "structure", "structure", "structure", "structure", "structure", "animal", "object", "object", "object", "object", "object", "structure" ]
[ "chair", "chair", "chair", "chair", "chair", "chair", "person", "bottle", "bottle", "bottle", "bottle", "bottle", "diningtable" ]
0
0
0
1
1
1
1
1
1
006935
[ "animal" ]
[ "cow" ]
1
1
1
1
1
1
1
1
1
001464
[ "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant", "plant",...
[ "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedplant", "pottedpla...
0
0
0
0
0
0
1
0
0
004903
[ "structure", "vehicle", "vehicle", "vehicle" ]
[ "sofa", "car", "car", "car" ]
0
0
1
1
1
1
1
1
0
001756
[ "structure", "structure", "object", "animal", "animal", "structure" ]
[ "diningtable", "chair", "bottle", "person", "person", "chair" ]
1
1
1
1
1
1
1
1
1
009027
[ "object" ]
[ "bottle" ]
0
0
0
0
0
0
0
0
0
002043
[ "animal" ]
[ "horse" ]
1
1
1
1
1
1
1
1
1
000500
[ "vehicle", "animal", "animal", "animal", "animal", "animal", "animal", "animal" ]
[ "bicycle", "person", "person", "person", "person", "person", "person", "person" ]
1
0
0
1
1
1
1
1
1
004495
[ "animal", "animal", "animal", "object" ]
[ "person", "person", "person", "bottle" ]
1
1
0
1
1
1
1
1
1
008728
[ "animal", "animal", "structure" ]
[ "dog", "person", "chair" ]
1
1
0
1
1
1
1
1
1
004008
[ "animal", "animal" ]
[ "dog", "person" ]
1
1
0
1
1
0
1
1
0
002772
[ "vehicle" ]
[ "car" ]
0
0
0
1
1
1
0
0
0
003685
[ "vehicle", "animal" ]
[ "train", "person" ]
1
1
1
1
1
1
1
1
1
002558
[ "vehicle", "vehicle", "animal", "animal" ]
[ "bicycle", "bicycle", "person", "person" ]
1
0
1
1
1
1
0
0
1
End of preview. Expand in Data Studio

obstaclenot-voc2007-grid

Binary segmentation masks derived from PASCAL VOC 2007, built for training the seg_net of the ObstacleNet robot-vision pipeline.

What is in each row?

Each row contains the original JPEG image and a 28×28 binary mask where 255 = obstacle (any object bounding box covers this pixel) and 0 = clear.

The mask is 28×28 to match the SegNet output: 32×32 input → two 3×3 convolutions without padding → 28×28 output.

Superclass mapping

All 20 VOC classes map to a single binary obstacle channel:

Superclass VOC classes
vehicle aeroplane, bicycle, boat, bus, car, motorbike, train
animal bird, cat, cow, dog, horse, sheep, person
plant pottedplant
structure chair, diningtable, sofa, tvmonitor
object bottle

Splits

Split Rows
train 4008
val 1003

Usage 

from datasets import load_dataset
import numpy as np

ds  = load_dataset("YOUR_USERNAME/obstaclenot-voc2007-grid")
row = ds["train"][0]
img  = row["image"]                                      # PIL RGB
mask = np.array(row["mask"], dtype=np.float32) / 255.   # float32 (28,28) in [0,1]

Original dataset — credit and citation

This dataset is a derivative work of PASCAL VOC 2007. All original images remain copyright their respective owners and are subject to the VOC usage guidelines. The segmentation masks added here are released under CC0.

Everingham, M., Van Gool, L., Williams, C. K. I., Winn, J. and Zisserman, A. The PASCAL Visual Object Classes (VOC) Challenge. International Journal of Computer Vision, 88(2), 303–338, 2010. http://host.robots.ox.ac.uk/pascal/VOC/
Downloads last month
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Number of rows:
5,011
Total file size:
1.52 GB