0:road,railroad
1:sidewalk,pavement
2:building,buildings,edifice,edifices,house,ceiling
3:wall,walls,brick wall,stone wall,tile wall,wood wall
4:fence,fences
5:pole,poles
6:traffic light,traffic lights
7:traffic sign,stop sign
8:vegetation,tree,trees,palm tree,bushes
9:terrain,river,sand,sea,snow,water,mountain,grass,dirt,rock
10:sky,clouds
11:person
12:rider
13:car,cars
14:truck,trucks
15:bus,buses
16:train,trains,locomotive,locomotives,freight train
17:motorcycle,motorcycles
18:bicycle,bicycles,bike,bikes