CamVid

The Cambridge-driving Labeled Video Database (CamVid) is the first collection of videos with object class semantic labels, complete with metadata. The database provides ground truth labels that associate each pixel with one of 32 semantic classes.

This repository contains:

A backup for original CamVid dataset(32 category labels).
11 category labels and training grayscale images for CamVid dataset.
Scripts to generate 11 cateogry labels from the original 32 category labels.
CamVid dataset split to train/va l/test set, which is the same as SegNet.

Folder structure

.
├── CamVidColor11 # 11 classes color label
├── CamVidGray # 11 classes gray label, 0~10 for classes, 255 for ignored pixeles
├── CamVid_Label # Original CamVid color label
└── CamVid_RGB # Original CamVid rgb image

The original CamVid dataset image resolution is 960x720. Some segmentation methods downsample it to 480x360 (SegNet/ENet). I provide a higher resolution version.

Group 32 classes to 11 classes

Refer CamvidPixelLabelIDs.m

The map function is list as follows:

RGBLabel2LabelName = {
    (128, 128, 128): "Sky",

    (0, 128, 64): "Building",
    (128, 0, 0): "Building",
    (64, 192, 0): "Building",
    (64, 0, 64): "Building",
    (192, 0, 128): "Building",

    (192, 192, 128): "Pole",
    (0, 0, 64): "Pole",

    (128, 64, 128): "Road",
    (128, 0, 192): "Road",
    (192, 0, 64): "Road",

    (0, 0, 192): "Sidewalk",
    (64, 192, 128): "Sidewalk",
    (128, 128, 192): "Sidewalk",

    (128, 128, 0): "Tree",
    (192, 192, 0): "Tree",

    (192, 128, 128): "SignSymbol",
    (128, 128, 64): "SignSymbol",
    (0, 64, 64): "SignSymbol",

    (64, 64, 128): "Fence",

    (64, 0, 128): "Car",
    (64, 128, 192): "Car",
    (192, 128, 192): "Car",
    (192, 64, 128): "Car",
    (128, 64, 64): "Car",

    (64, 64, 0): "Pedestrian",
    (192, 128, 64): "Pedestrian",
    (64, 0, 192): "Pedestrian",
    (64, 128, 64): "Pedestrian",

    (0, 128, 192): "Bicyclist",
    (192, 0, 192): "Bicyclist",

    (0, 0, 0): "Void"
}

Labeling errors in CamVid

There is a problem with Seq05VD_f02610_L.png annotation. For pixels RGB value that doe s not appear in the annotation category, we set it as Void.

There are detailds:

(2, 311) in (26, 26, 26), rgb Seq05VD_f02610_L.png, changed to Void
(2, 312) in (26, 26, 26), rgb Seq05VD_f02610_L.png, changed to Void
(2, 314) in (36, 36, 36), rgb Seq05VD_f02610_L.png, changed to Void
(2, 315) in (51, 51, 51), rgb Seq05VD_f02610_L.png, changed to Void
(2, 323) in (77, 77, 77), rgb Seq05VD_f02610_L.png, changed to Void
(2, 325) in (77, 77, 77), rgb Seq05VD_f02610_L.png, changed to Void
(2, 326) in (77, 77, 77), rgb Seq05VD_f02610_L.png, changed to Void
(2, 333) in (128, 128, 77), rgb Seq05VD_f02610_L.png, changed to Void
(2, 334) in (128, 128, 86), rgb Seq05VD_f02610_L.png, changed to Void
(2, 335) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(2, 336) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(2, 337) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(2, 338) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(2, 339) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(2, 340) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(2, 341) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(2, 342) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(2, 343) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(2, 344) in (18, 18, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 354) in (128, 128, 6), rgb Seq05VD_f02610_L.png, changed to Void
(3, 355) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(3, 356) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(3, 357) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(3, 358) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(3, 359) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(3, 360) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(3, 361) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(3, 362) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(3, 363) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(3, 364) in (128, 128, 30), rgb Seq05VD_f02610_L.png, changed to Void
(3, 365) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(3, 366) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 367) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 368) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(3, 369) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(3, 370) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(3, 371) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(3, 372) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(3, 373) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(3, 374) in (128, 128, 54), rgb Seq05VD_f02610_L.png, changed to Void
(3, 375) in (128, 128, 77), rgb Seq05VD_f02610_L.png, changed to Void
(3, 376) in (128, 128, 77), rgb Seq05VD_f02610_L.png, changed to Void
(3, 377) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 378) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 379) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 380) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 381) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 382) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 383) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 384) in (48, 48, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 385) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 386) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 387) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 388) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(3, 389) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(3, 390) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(3, 391) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(3, 392) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(3, 393) in (128, 128, 102), rgb Seq05VD_f02610_L.png, changed to Void
(3, 394) in (128, 128, 104), rgb Seq05VD_f02610_L.png, changed to Void
(4, 405) in (102, 102, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 406) in (102, 102, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 407) in (102, 102, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 408) in (102, 102, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 409) in (102, 102, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 410) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(4, 411) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(4, 412) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(4, 413) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(4, 414) in (128, 128, 26), rgb Seq05VD_f02610_L.png, changed to Void
(4, 415) in (128, 128, 50), rgb Seq05VD_f02610_L.png, changed to Void
(4, 416) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 417) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 418) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 419) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 420) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(4, 421) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(4, 422) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(4, 423) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(4, 424) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(4, 425) in (128, 128, 75), rgb Seq05VD_f02610_L.png, changed to Void
(4, 426) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 427) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 428) in (128, 128, 77), rgb Seq05VD_f02610_L.png, changed to Void
(4, 429) in (128, 128, 77), rgb Seq05VD_f02610_L.png, changed to Void
(4, 430) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 431) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 432) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 433) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 434) in (51, 51, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 435) in (29, 29, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 436) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 437) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 438) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 439) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 440) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 441) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 442) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 443) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 444) in (26, 26, 0), rgb Seq05VD_f02610_L.png, changed to Void
(4, 445) in (5, 5, 0), rgb Seq05VD_f02610_L.png, changed to Void
(51, 305) in (125, 125, 125), rgb Seq05VD_f02610_L.png, changed to Void
(51, 306) in (63, 63, 63), rgb Seq05VD_f02610_L.png, changed to Void
(52, 308) in (110, 110, 110), rgb Seq05VD_f02610_L.png, changed to Void
(52, 309) in (8, 8, 8), rgb Seq05VD_f02610_L.png, changed to Void
(56, 312) in (92, 92, 92), rgb Seq05VD_f02610_L.png, changed to Void
(56, 313) in (2, 2, 2), rgb Seq05VD_f02610_L.png, changed to Void
(57, 313) in (48, 48, 48), rgb Seq05VD_f02610_L.png, changed to Void
(58, 313) in (116, 116, 116), rgb Seq05VD_f02610_L.png, changed to Void
(58, 314) in (48, 48, 48), rgb Seq05VD_f02610_L.png, changed to Void
(58, 315) in (2, 2, 2), rgb Seq05VD_f02610_L.png, changed to Void
(59, 315) in (92, 92, 92), rgb Seq05VD_f02610_L.png, changed to Void
(59, 316) in (2, 2, 2), rgb Seq05VD_f02610_L.png, changed to Void
(60, 316) in (48, 48, 48), rgb Seq05VD_f02610_L.png, changed to Void
(61, 316) in (116, 116, 116), rgb Seq05VD_f02610_L.png, changed to Void
(61, 317) in (15, 15, 15), rgb Seq05VD_f02610_L.png, changed to Void
(62, 317) in (113, 113, 113), rgb Seq05VD_f02610_L.png, changed to Void
(63, 318) in (48, 48, 48), rgb Seq05VD_f02610_L.png, changed to Void
(64, 318) in (2, 2, 2), rgb Seq05VD_f02610_L.png, changed to Void
(64, 319) in (92, 92, 92), rgb Seq05VD_f02610_L.png, changed to Void
(65, 319) in (2, 2, 2), rgb Seq05VD_f02610_L.png, changed to Void
(65, 320) in (50, 50, 0), rgb Seq05VD_f02610_L.png, changed to Void
(65, 321) in (111, 111, 0), rgb Seq05VD_f02610_L.png, changed to Void
(66, 321) in (2, 2, 0), rgb Seq05VD_f02610_L.png, changed to Void
(66, 322) in (50, 50, 50), rgb Seq05VD_f02610_L.png, changed to Void
(67, 323) in (128, 128, 63), rgb Seq05VD_f02610_L.png, changed to Void
(68, 323) in (60, 60, 0), rgb Seq05VD_f02610_L.png, changed to Void
(69, 323) in (60, 60, 0), rgb Seq05VD_f02610_L.png, changed to Void
(70, 323) in (128, 128, 68), rgb Seq05VD_f02610_L.png, changed to Void
(79, 324) in (128, 128, 123), rgb Seq05VD_f02610_L.png, changed to Void
(111, 341) in (128, 128, 3), rgb Seq05VD_f02610_L.png, changed to Void
(112, 341) in (128, 128, 63), rgb Seq05VD_f02610_L.png, changed to Void
(113, 341) in (128, 128, 69), rgb Seq05VD_f02610_L.png, changed to Void
(147, 346) in (128, 128, 92), rgb Seq05VD_f02610_L.png, changed to Void
(147, 347) in (128, 128, 3), rgb Seq05VD_f02610_L.png, changed to Void
(152, 349) in (47, 47, 0), rgb Seq05VD_f02610_L.png, changed to Void
(153, 349) in (2, 2, 0), rgb Seq05VD_f02610_L.png, changed to Void
(153, 350) in (108, 108, 0), rgb Seq05VD_f02610_L.png, changed to Void
(154, 350) in (48, 48, 0), rgb Seq05VD_f02610_L.png, changed to Void
(155, 350) in (2, 2, 0), rgb Seq05VD_f02610_L.png, changed to Void
(155, 351) in (108, 108, 0), rgb Seq05VD_f02610_L.png, changed to Void
(156, 351) in (48, 48, 0), rgb Seq05VD_f02610_L.png, changed to Void
(160, 354) in (128, 128, 126), rgb Seq05VD_f02610_L.png, changed to Void
(161, 355) in (128, 128, 3), rgb Seq05VD_f02610_L.png, changed to Void
(162, 355) in (128, 128, 92), rgb Seq05VD_f02610_L.png, changed to Void
(162, 356) in (128, 128, 3), rgb Seq05VD_f02610_L.png, changed to Void
(163, 356) in (128, 128, 78), rgb Seq05VD_f02610_L.png, changed to Void
(163, 494) in (15, 15, 15), rgb Seq05VD_f02610_L.png, changed to Void
(164, 356) in (128, 128, 126), rgb Seq05VD_f02610_L.png, changed to Void
(164, 357) in (128, 128, 21), rgb Seq05VD_f02610_L.png, changed to Void
(165, 357) in (128, 128, 113), rgb Seq05VD_f02610_L.png, changed to Void
(174, 375) in (171, 171, 86), rgb Seq05VD_f02610_L.png, changed to Void
(174, 376) in (191, 191, 126), rgb Seq05VD_f02610_L.png, changed to Void
(175, 376) in (138, 138, 20), rgb Seq05VD_f02610_L.png, changed to Void
(176, 377) in (136, 136, 15), rgb Seq05VD_f02610_L.png, changed to Void
(177, 380) in (154, 154, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 434) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(177, 435) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(177, 436) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(177, 437) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(177, 438) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(177, 439) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(177, 440) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(177, 441) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 442) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 443) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 444) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 446) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 447) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 448) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 449) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 450) in (128, 128, 51), rgb Seq05VD_f02610_L.png, changed to Void
(177, 451) in (77, 77, 0), rgb Seq05VD_f02610_L.png, changed to Void
(177, 452) in (77, 77, 77), rgb Seq05VD_f02610_L.png, changed to Void
(177, 465) in (51, 51, 51), rgb Seq05VD_f02610_L.png, changed to Void

Dataset Division

Please see camvid_data.py for details.

Name		Name	Last commit message	Last commit date
Latest commit History 6 Commits
CamVidColor11		CamVidColor11
CamVidGray		CamVidGray
CamVid_Label		CamVid_Label
CamVid_RGB		CamVid_RGB
SegNetanno		SegNetanno
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md
camvid_data.py		camvid_data.py
camvid_test.txt		camvid_test.txt
camvid_train.txt		camvid_train.txt
camvid_trainval.txt		camvid_trainval.txt
camvid_val.txt		camvid_val.txt

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CamVid

Folder structure

Group 32 classes to 11 classes

Labeling errors in CamVid

Dataset Division

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CamVid

Folder structure

Group 32 classes to 11 classes

Labeling errors in CamVid

Dataset Division

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