The RoboCup SPL Instance Segmentation Dataset is described and stored at Kaggle.
An Example NN training with the dataset on sematic segmentation can be found here. The dataset can also be used for instance segmentation to make a destinction between the robots.
At data_preparation.ipynb is a Notebook with the steps needed to create this dataset from raw labeled images.
At data_preparation.ipynb are helper functiones to create your own automatic annotations and add them to the dataset.