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Datasets › CamVid

CamVid (Cambridge-driving Labeled Video Database)

Introduced in Semantic object classes in video: A high-definition ground truth database1 Jan 2009 archive 2025-07-28

CamVid (Cambridge-driving Labeled Video Database) is a road/driving scene understanding database which was originally captured as five video sequences with a 960×720 resolution camera mounted on the dashboard of a car. Those sequences were sampled (four of them at 1 fps and one at 15 fps) adding up to 701 frames. Those stills were manually annotated with 32 classes: void, building, wall, tree, vegetation, fence, sidewalk, parking block, column/pole, traffic cone, bridge, sign, miscellaneous text, traffic light, sky, tunnel, archway, road, road shoulder, lane markings (driving), lane markings (non-driving), animal, pedestrian, child, cart luggage, bicyclist, motorcycle, car, SUV/pickup/truck, truck/bus, train, and other moving object

Source: A Review on Deep Learning TechniquesApplied to Semantic Segmentation Image Source: http://mi.eng.cam.ac.uk/research/projects/VideoRec/CamVid/

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 4 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.

First row (archive order)PaperCode
Real-Time Semantic Segmentation CamVid PIDNet-M (Cityscapes-Pretrained) mIoU 82.0 PIDNet: A Real-time Semantic Segmentation Network... XuJiacong/PIDNet +5 29 Compare
Semantic Segmentation CamVid SERNet-Former Mean IoU 84.62 SERNet-Former: Semantic Segmentation by Efficient... serdarch/sernet-former +1 21 Compare
Video Semantic Segmentation CamVid TMANet-50 Mean IoU 76.5 Temporal Memory Attention for Video Semantic Segmentation wanghao9610/TMANet 6 Compare
2D Semantic Segmentation CamVid SERNet-Former mIoU 84.62 SERNet-Former: Semantic Segmentation by Efficient... serdarch/sernet-former +1 1 Compare

Papers archive 2025-07-28

30 shown of 32 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 227. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
DSNet: A Novel Way to Use Atrous Convolutions in Semantic Segmentation 1 1 6 Jun 2024 not harvested
SERNet-Former: Semantic Segmentation by Efficient Residual Network with Attention-Boosting Gates and Attention-Fusion Networks 2 2 28 Jan 2024 not harvested
Mobile-Seed: Joint Semantic Segmentation and Boundary Detection for Mobile Robots 1 1 21 Nov 2023 not harvested
P2AT: Pyramid Pooling Axial Transformer for Real-time Semantic Segmentation 1 1 23 Oct 2023 not harvested
RTFormer: Efficient Design for Real-Time Semantic Segmentation with Transformer 1 2 13 Oct 2022 not harvested
S²-FPN: Scale-ware Strip Attention Guided Feature Pyramid Network for Real-time Semantic Segmentation 1 3 15 Jun 2022 not harvested
PIDNet: A Real-time Semantic Segmentation Network Inspired by PID Controllers 6 3 4 Jun 2022 ran 1 of 19 samples (18 unverified; 1 pointer-only for licence)
PP-LiteSeg: A Superior Real-Time Semantic Segmentation Model 3 2 6 Apr 2022 not harvested
Scaling up Multi-domain Semantic Segmentation with Sentence Embeddings 0 1 4 Feb 2022 not harvested
Rethinking Dilated Convolution for Real-time Semantic Segmentation 3 1 18 Nov 2021 not harvested
Temporal Memory Attention for Video Semantic Segmentation 1 2 17 Feb 2021 not harvested
Deep Dual-resolution Networks for Real-time and Accurate Semantic Segmentation of Road Scenes 8 3 15 Jan 2021 not harvested
HyperSeg: Patch-wise Hypernetwork for Real-time Semantic Segmentation 1 2 21 Dec 2020 not harvested
BiSeNet V2: Bilateral Network with Guided Aggregation for Real-time Semantic Segmentation 7 4 5 Apr 2020 ran 6 of 10 samples (4 unverified; 5 pointer-only for licence)
Temporally Distributed Networks for Fast Video Semantic Segmentation 1 3 3 Apr 2020 ran 2 of 5 samples (3 unverified)
Efficient Semantic Video Segmentation with Per-frame Inference 1 2 26 Feb 2020 ran 1 of 3 samples (2 unverified; 3 pointer-only for licence)
Template-Based Automatic Search of Compact Semantic Segmentation Architectures 1 2 4 Apr 2019 not harvested
DFANet: Deep Feature Aggregation for Real-Time Semantic Segmentation 2 1 3 Apr 2019 ran 1 of 1 samples (0 unverified; 1 pointer-only for licence)
Improving Semantic Segmentation via Video Propagation and Label Relaxation 5 1 4 Dec 2018 not harvested
Efficient Dense Modules of Asymmetric Convolution for Real-Time Semantic Segmentation 4 2 17 Sep 2018 not harvested
Efficient Road Lane Marking Detection with Deep Learning 0 2 11 Sep 2018 not harvested
BiSeNet: Bilateral Segmentation Network for Real-time Semantic Segmentation 21 2 2 Aug 2018 ran 6 of 18 samples (12 unverified; 1 pointer-only for licence)
Deep Spatio-Temporal Random Fields for Efficient Video Segmentation 0 1 3 Jul 2018 not harvested
Dense Decoder Shortcut Connections for Single-Pass Semantic Segmentation 0 1 1 Jun 2018 not harvested
ICNet for Real-Time Semantic Segmentation on High-Resolution Images 18 1 27 Apr 2017 not harvested
Semantic Video Segmentation by Gated Recurrent Flow Propagation 0 1 28 Dec 2016 not harvested
Pyramid Scene Parsing Network 67 2 4 Dec 2016 ran 7 of 29 samples (22 unverified; 5 pointer-only for licence)
The One Hundred Layers Tiramisu: Fully Convolutional DenseNets for Semantic Segmentation 23 1 28 Nov 2016 ran 1 of 24 samples (23 unverified; 6 pointer-only for licence)
Multi-Scale Context Aggregation by Dilated Convolutions 9 2 23 Nov 2015 ran 2 of 8 samples (6 unverified; 2 pointer-only for licence)
ReSeg: A Recurrent Neural Network-based Model for Semantic Segmentation 5 1 22 Nov 2015 not harvested

The full list of 32 is in the JSON twin.

Dataset loaders archive 2025-07-28

torch-uncertainty.github.io/ENSTA-U2IS-AI/torch-uncertaintypytorch
zxchasing/CamVidpytorch

2 loaders as listed in the archive; links are outbound and not re-checked here.

Tasks archive 2025-07-28

Semantic Segmentation2D Semantic SegmentationReal-Time Semantic SegmentationVideo Semantic Segmentation

License archive 2025-07-28

Unknown

Modalities archive 2025-07-28

ImagesVideos

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • CamVid

1 variant name, as the archive lists them.

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