1 Answers

There are a couple of datasets for this purpose and almost all of them have specific certification for usage. Some of them contain only outdoor images because they were made self-driving cars.

Here is a list of the datasets, but make sure you read the terms of use for each of them.

  1. Cityscapes (outdoor images)
  2. Mapillary (outdoor images)
  3. ADE20K (mixed images)
  4. MS COCO (mixed images)
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