Does Waymo include segmentation mask for camera image?

[alanxuefei]

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After an initial investigation, the answer is NO.

However, some approaches for the 3D camera-only challenge may require this information.

[hfslyc]

Hi,

What kind of segmentation mask are you looking for? If you are referring the foreground segmentation mask, feel free to use the provided range image and applying threshold on it. https://github.com/waymo-research/waymo-open-dataset/blob/master/tutorial/tutorial.ipynb shows how to overlay the range image with specific camera image.

Best, Wayne, on behalf the Waymo Open Dataset Team