| name, r, g, b | |
| unlabeled,0,0,0 | |
| t_shirt,128,128,128 | |
| right_sleeve,100,100,100 | |
| left_sleeve,100,100,100 | |
| neck,150,150,150 | |
| 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 | |