Taking a quick look at their files on GitHub (GitHub - microsoft/AirSim: Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research), if you look in the Unreal/Plugins/AirSim/Content folder you’ll find what looks like their post process materials they created for the render targets to use. It’s likely the SegmentationRenderTarget_Mat that you’ll want to have a look at.
This isn’t a view that’s standard in the engine so you’ll have to migrate this content yourself. You should be able to just grab that AirSim folder and put it in a build of UE4 4.14 and later to get it to work.