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-unclea