Rellis 3D groped in 5 labels.
The rellis3D_5.zip file contains, train, val and test folders with:
- images subfolder: RGB images
- masks_id sub
folder: contain masks with labels from 0 to 4.
Original labels of Rellis 3D dataset:
["void", "dirt", "grass", "tree", "pole", "water", "sky", "vehicle",
"object", "asphalt", "building", "log", "person", "fence", "bush",
"concrete", "barrier", "puddle", "mud", "rubble"]
The original labels are grouped in the following labels:
New labels id:
- 0: background (void, sky)
- 1: obstacle (tree, bush, person, rubble, barrier, log, fence, vehicle, object, pole, building)
- 2: with water (mud, puddle, water)
- 3: unstable (grass, dirt) --> unstable to move with a wheeled robot
- 4: stable (concrete, asphalt) --> stable to move with a wheeled robot
