Full list of classes: void, road, sidewalk, ground, building, barrier, bus-stop, stairs, bench, shrub, tree-trunk, tree-top, small-vehicle, big-vehicle, motorcycle, bicycle, person, flag-pole, tall-light, short-light, post, sign, utility-pole, wire, traffic-pole, traffic-signal, bag, trashcan, fire-hydrant, mailbox, obstacle.
 Vedaldi, A. and Fulkerson, B., "VLFeat: An Open and Portable Library of Computer Vision Algorithms," URL: http://www.vlfeat.org/, (2008)
 LIBLINEAR., http://www.csie.ntu.edu.tw/~cjlin/liblinear/
 Woodford, O., http://www.robots.ox.ac.uk/~ojw/files/imrender_v2.4.zip
 Munoz, D., Bagnell, A., Hebert, M., "Co-inference for Multi-modal Scene Analysis," ECCV, (2012)