A neural network with a multilayer perceptron architecture is shown to
be capable of labelling the visible objects in colour images of urban
and rural outdoor scenes. The two problems of segmentation and recogn
ition are separated by using 'ideal' segmentations, allowing the perfo
rmance of the recognition method to be studied independently of the ef
fects of using an imperfect real segmentation process. A label cluster
ing transformation is proposed and shown to cause a significant increa
se in the expected classification accuracy of the network. The deletio
n of the contextual features from the feature vector is shown to degra
de the performance of the network. Measurements of the generalisation
performance on unseen test data show that, on average, the system corr
ectly recognises approximately 72% of the area of these images.