This dataset includes images and labels used for semantic segmentation of the laboratory model of the manufacturing environment, at the University of Belgrade - Faculty of Mechanical Engineering. The dataset is gathered by using mobile robot RAICO (Robot with Artificial Intelligence based COgnition) and its stereo visual system made from two Basler acA1920-25uc cameras with Fujinon lens DF6HA-1B. The dataset includes close to 430 images with a resolution of 640x360. Images are acquired by both cameras at different mobile robot poses in the laboratory model of a manufacturing environment. Five classes are introduced in the dataset, machines 1 to 4, and a background class. The exact names of the classes are: classNames = ["Machine_1", "Machine_2", "Machine_3", "Machine_4", "Background"]; while the labels of the classes (RGB values of label images) are: labelIDs = [ ... 000 000 255; ... % "Machine 1" 000 255 255; ... % "Machine 2" 255 255 000; ... % "Machine 3" 255 000 000; ... % "Machine 4" 255 255 255; ... % "Background" ]; Image and label pairs are entitled 1 to 430, and e.g. label 5 corresponds to images 5. This dataset was developed with the support of the Science Fund of the Republic of Serbia, Grant No. 6523109, AI - MISSION4.0, 2020-2022.