Adding a Specific Semantic Tag for Trees Without Manual Placement

[probstlukas]

Hello! I’m looking to add a dedicated semantic tag specifically for trees in CARLA, without having to manually place each tree in the environment. Ideally, this tag should cover all types of trees to ensure better generalizability for my model.

I’m aware that CARLA currently provides a general Vegetation semantic tag, but this includes more than just trees (e.g., bushes, grass, etc.). I also understand from the documentation that it’s possible to define custom semantic tags.

Does anyone have suggestions or experience with tagging all trees automatically—perhaps by modifying existing assets or leveraging Unreal Engine’s capabilities—without resorting to extensive manual work?

Thanks in advance!