| name, r, g, b | |
| unlabeled, 0, 0, 0 | |
| paved-area, 128, 64, 128 | |
| dirt, 130, 76, 0 | |
| grass, 0, 102, 0 | |
| gravel, 112, 103, 87 | |
| water, 28, 42, 168 | |
| rocks, 48, 41, 30 | |
| pool, 0, 50, 89 | |
| vegetation, 107, 142, 35 | |
| roof, 70, 70, 70 | |
| wall, 102, 102, 156 | |
| window, 254, 228, 12 | |
| door, 254, 148, 12 | |
| fence, 190, 153, 153 | |
| fence-pole, 153, 153, 153 | |
| person, 255, 22, 96 | |
| dog, 102, 51, 0 | |
| car, 9, 143, 150 | |
| bicycle, 119, 11, 32 | |
| tree, 51, 51, 0 | |
| bald-tree, 190, 250, 190 | |
| ar-marker, 112, 150, 146 | |
| obstacle, 2, 135, 115 | |
| conflicting, 255, 0, 0 | |