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… See the full description on the dataset page: https://huggingface.co/datasets/isp-uv-es/IPL-CARLA-dataset.