| 0 void 0 0 0 | |
| 1 dirt 108 64 20 | |
| 2 sand 255 229 204 | |
| 3 grass 0 102 0 | |
| 4 tree 0 255 0 | |
| 5 pole 0 153 153 | |
| 6 water 0 128 255 | |
| 7 sky 0 0 255 | |
| 8 vehicle 255 255 0 | |
| 9 container/generic-object 255 0 127 | |
| 10 asphalt 64 64 64 | |
| 11 gravel 255 128 0 | |
| 12 building 255 0 0 | |
| 13 mulch 153 76 0 | |
| 14 rock-bed 102 102 0 | |
| 15 log 102 0 0 | |
| 16 bicycle 0 255 128 | |
| 17 person 204 153 255 | |
| 18 fence 102 0 204 | |
| 19 bush 255 153 204 | |
| 20 sign 0 102 102 | |
| 21 rock 153 204 255 | |
| 22 bridge 102 255 255 | |
| 23 concrete 101 101 11 | |
| 24 picnic-table 114 85 47 | |