IPL-CARLA-dataset

Autonomous driving semantic segmentation dataset created with CARLA (Cars Learning to Act) simulator.

Dataset information

Images are generated from two different simulated cities. They include different weather (sunny, foggy and rainy) and daytime (morning, day, sunset and night) conditions. It contains 20000 RGB-rendered images and their corresponding ground truth segmented masks. Segmentation ground truth masks have 35 different classes with colors indicated in the dataset_classes.txt file. Images and masks have a size of 800 x 600 pixels.

Dataset structure

Images are named as rgb_{1,...20000}.png and their corresponding ground truth are named as seg_{1,...,20000}.png. Due to space constraints the first 10000 (1-10000) images and masks are in the images and labels folders and the last 10000 (10001-20000) are in the images_2 and labels_2 folders. The complete dataset has a size of 54 Gb.