The Cityscapes Dataset focuses on semantic understanding of urban street scenes. In the following, we give an overview on the design choices that were made to target the dataset’s focus.
Features
Type of annotations
Semantic
Instance-wise
Dense pixel annotations
Complexity
Diversity
50 cities
Several months (spring, summer, fall)
Daytime
Good/medium weather conditions
Manually selected frames
Volume
Metadata
Preceding and trailing video frames. Each annotated image is the 20th image from a 30 frame video snippets (1.8s)
Corresponding right stereo views
GPS coordinates
Ego-motion data from vehicle odometry
Outside temperature from vehicle sensor
Benchmark suite and evaluation server
Labeling Policy
Labeled foreground objects must never have holes, i.e. if there is some background visible ‘through’ some foreground object, it is considered to be part of the foreground. This also applies to regions that are highly mixed with two or more classes: they are labeled with the foreground class. Examples: tree leaves in front of house or sky (everything tree), transparent car windows (everything car).
Class Definitions
Please click on the individual classes for details on their definitions.
Group | Classes |
---|
flat | road · sidewalk · parking+ · rail track+ |
human | person* · rider*
|
vehicle | car* · truck* · bus* · on rails* · motorcycle* · bicycle* · caravan*+ · trailer*+ |
construction | building · wall · fence · guard rail+ · bridge+ · tunnel+ |
object | pole · pole group+ · traffic sign · traffic light |
nature | vegetation · terrain |
sky | sky |
void | ground+ · dynamic+ · static+ |
Type of annotations
Contained cities