diff --git a/PythonClient/computer_vision/seg_pallete.py b/PythonClient/computer_vision/seg_palette.py
similarity index 58%
rename from PythonClient/computer_vision/seg_pallete.py
rename to PythonClient/computer_vision/seg_palette.py
index 269c96eb94..664769cc9e 100644
--- a/PythonClient/computer_vision/seg_pallete.py
+++ b/PythonClient/computer_vision/seg_palette.py
@@ -1,5 +1,6 @@
 import numpy
 import random
+
 # requires Python 3.5.3 :: Anaconda 4.4.0
 # pip install opencv-python
 import cv2
@@ -13,15 +14,27 @@ def generate_color_palette(numPixelsWide, outputFile):
     possibilities = [list(range(256)), list(range(256)), list(range(256))]
 
     colors = [[0] * 3 for i in range(256)]
-        
+
+    choice = 0
+    j = 0
+    for i in range(3):
+        palette[0, j * numPixelsWide : (j + 1) * numPixelsWide, i] = choice
+        colors[j][i] = choice
+
     for i in range(3):
-        for j in range(256):
+        for j in range(1, 255):
             choice = random.sample(possibilities[i], 1)[0]
             possibilities[i].remove(choice)
-            palette[0, j * numPixelsWide:(j + 1) * numPixelsWide, i] = choice
+            palette[0, j * numPixelsWide : (j + 1) * numPixelsWide, i] = choice
             colors[j][i] = choice
 
-    cv2.imwrite(outputFile, palette, [cv2.IMWRITE_PNG_COMPRESSION,0])
+    choice = 255
+    j = 255
+    for i in range(3):
+        palette[0, j * numPixelsWide : (j + 1) * numPixelsWide, i] = choice
+        colors[j][i] = choice
+
+    cv2.imwrite(outputFile, palette, [cv2.IMWRITE_PNG_COMPRESSION, 0])
 
     rgb_file = open("rgbs.txt", "w")
     for j in range(256):
@@ -29,8 +42,7 @@ def generate_color_palette(numPixelsWide, outputFile):
     rgb_file.close()
 
 
-if __name__ == '__main__':
-
+if __name__ == "__main__":
     numPixelsWide = 4
-    outputFile = 'seg_color_pallet.png'
-    generate_color_palette(numPixelsWide, outputFile)
\ No newline at end of file
+    outputFile = "seg_color_palette.png"
+    generate_color_palette(numPixelsWide, outputFile)
diff --git a/Unreal/Plugins/AirSim/Content/HUDAssets/SegmentationMaterial.uasset b/Unreal/Plugins/AirSim/Content/HUDAssets/SegmentationMaterial.uasset
index 0e35dd1dc8..a1f727e5bf 100644
Binary files a/Unreal/Plugins/AirSim/Content/HUDAssets/SegmentationMaterial.uasset and b/Unreal/Plugins/AirSim/Content/HUDAssets/SegmentationMaterial.uasset differ
diff --git a/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_palette.png b/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_palette.png
new file mode 100644
index 0000000000..ecc4513b80
Binary files /dev/null and b/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_palette.png differ
diff --git a/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_palette.uasset b/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_palette.uasset
new file mode 100644
index 0000000000..a85d7fc4f6
Binary files /dev/null and b/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_palette.uasset differ
diff --git a/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_pallet.png b/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_pallet.png
deleted file mode 100644
index c16454f64a..0000000000
Binary files a/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_pallet.png and /dev/null differ
diff --git a/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_pallet.uasset b/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_pallet.uasset
deleted file mode 100644
index a5e8ceda99..0000000000
Binary files a/Unreal/Plugins/AirSim/Content/HUDAssets/seg_color_pallet.uasset and /dev/null differ
diff --git a/docs/seg_rgbs.txt b/docs/seg_rgbs.txt
index a579be929b..465f6d6051 100644
--- a/docs/seg_rgbs.txt
+++ b/docs/seg_rgbs.txt
@@ -1,4 +1,4 @@
-0	[55, 181, 57]
+0	[0, 0, 0]
 1	[153, 108, 6]
 2	[112, 105, 191]
 3	[89, 121, 72]
@@ -253,4 +253,4 @@
 252	[130, 56, 55]
 253	[147, 210, 11]
 254	[162, 203, 118]
-255	[43, 47, 206]
+255	[255, 255, 255]
\ No newline at end of file