The Cityscapes Dataset for Semantic Urban Scene Understanding

• Published in: 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) pp. 3213 - 3223
• Main Authors: Cordts, Marius, Omran, Mohamed, Ramos, Sebastian, Rehfeld, Timo, Enzweiler, Markus, Benenson, Rodrigo, Franke, Uwe, Roth, Stefan, Schiele, Bernt
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.06.2016
• Subjects: Benchmark testing; Complexity theory; Semantics; Training; Urban areas; Vehicles; Visualization
• ISSN: 1063-6919
• DOI: 10.1109/CVPR.2016.350

Visual understanding of complex urban street scenes is an enabling factor for a wide range of applications. Object detection has benefited enormously from large-scale datasets, especially in the context of deep learning. For semantic urban scene understanding, however, no current dataset adequately captures the complexity of real-world urban scenes. To address this, we introduce Cityscapes, a benchmark suite and large-scale dataset to train and test approaches for pixel-level and instance-level semantic labeling. Cityscapes is comprised of a large, diverse set of stereo video sequences recorded in streets from 50 different cities. 5000 of these images have high quality pixel-level annotations, 20 000 additional images have coarse annotations to enable methods that leverage large volumes of weakly-labeled data. Crucially, our effort exceeds previous attempts in terms of dataset size, annotation richness, scene variability, and complexity. Our accompanying empirical study provides an in-depth analysis of the dataset characteristics, as well as a performance evaluation of several state-of-the-art approaches based on our benchmark.