• Author / Uploaded
• Aivan Dredd Punzalan

Citation preview

Bee Pitch and Roll Instructions Version 1.0

For further clari cation about rules & edge case scenarios, visit The Bee Handbook.

ALERTS & UPDATES - This

project has special annotation rules. Please read the next section carefully to understand how to annotate this task correctly.

What is pitch and roll

Pitch: angling cuboids forwards or backwards to align objects' LiDAR points flat on top of surfaces

Roll: angling cuboids left or right to align objects' LiDAR points on top of surfaces

When to pitch and roll

When any object is located on sloped surfaces like hills on grades, angled vertically or horizontally.

How to pitch and roll (eg. shortcuts / mouse drag)

You can pitch and roll the cuboid by dragging the heading bar with your mouse:

You can also use the keyboard shortcuts (ctrl + alt + arrow keys):

or (shift + ctrl + alt + arrow keys) for bigger adjustments:

How to check pitch and roll (side panel)

LABEL TABLE Type Pedestrian

Class Adult

Type Vehicle

Class

Type

Class

Other (Motorized) Riding

Other Dynamic Object

Other Dynamic Object

Child

Car

Construction Object

Construction Cones and Poles

Traffic Controller

Van

Construction Zone Signs and Construction Sign Boards

Specialty

Tow Truck

Temporary Construction Barrier

Pedestrian with Object

Animal

Vehicle

Adult

Bus

Temporary Fence

Child

Bendy Bus

Other

Specialty

School Bus

Dogs/Cats

Construction

Other

Mobile Traffic Control

Trailer

Other

Wheelchair

Emergency

Police Motorcycle

Bicycle

Other Railway Vehicle

Pushable or Pullable Other

No Label Zone

No Label Zone

Police Vehicle

Other Personal Mobility

Motorcycle

Static Road Obstacle

Railway Vehicle

ATTRIBUTES TABLE Towing Attribute

Rider Attribute

Occlusion

Turn Signal Lights

Any Lights

Brake Lights

Reverse Lights

Parked

GLOBAL RULES & GUIDELINES

Minimum LiDAR Points & 0-point rule:

Label all objects that have 1 LiDAR point anywhere in the scene. Any object that has 1 LiDAR or RADAR point at any time in the scene needs to be annotated the entire time they are in camera view, even if they have 0 points. Use interpolation, camera view, and your best judgment on correct cuboid position

Occlusion

If a cuboid becomes fully occluded during a frame and becomes visible again, annotate the object through the occlusion. Use your best judgment on correct cuboid position and heading If you cannot annotate the object due to high uncertainty (for example very long occlusions), but can re-identify it later, start a new cuboid path with the next frame where the object is visible. Be sure to merge the two cuboid paths afterward, using the Merge This Cuboid Path with Another Path button

Do Not Annotate Re ections Do NOT annotate any reflections. Reflections can appear due to building reflecting points off their windows or vehicles reflecting points off their bodies. The objects being reflected are found between the SDC and the building, it is useful to use both the camera view and movement, if any, of the object in lidar to determine if certain points are reflection.

The orange line in this example is a window, the reflected points beyond it should not be annotated.

CUBOID SIZING DO NOT leave more than .2m of space between the cuboid and points on object DO NOT INCLUDE side view mirrors or antennas DO NOT INCLUDE echo, or noise caused by echo INCLUDE large objects on the back or on top of the vehicle, like luggage, lumber, bicycles… INCLUDE any open doors, trunks, and hoods in the cuboid INCLUDE any ramps & lifts on the back of large trucks in the cuboid

150 Meter Rule Annotate the entire path of any object that was within 150m of the ego vehicle at any point. If there is an object that was never within 150m of the ego vehicle, do not annotate it.

Towed objects

Annotate the towing vehicle and the towed object with separate cuboids. Annotate each cuboid with their respective label. It is fine for the cuboids to overlap.

2 Pedestrians with 1 Object: If more than one person are carrying a large object together, divide the object (approximately) evenly between the persons. Example: If two people are carrying a couch, create two cuboids, each of them with a pedestrian and half of the couch. Both cuboids get the label ‘Pedestrian with object’

Labels Changing Mid-Scene

If an object needs to change labels midscene, create a new cuboid in its path with the new label, and new sizing, if necessary. Example: If a person is holding a large object - label them Pedestrian with Object - Adult. If they throw that object, start two new cuboids - one Pedestrian - Adult and one Other Dynamic Object

Using Visual Changes to Determine the Label for Attributes

In the example provided to the right, from frames 1-39 the brake lights of this vehicle appears to be OFF or Can’t Tell, but in frame 40 we can see the brake lights actually turn off (darken), therefore, we should change the labels for frames 1-39 to ON from OFF given this new information.

If there is clear proof that an attribute is either On or Off after seeing a visible change in later frames, we set the attributes accordingly. Only make these changes if you can visually confirm the differences.

If Vision for an Attribute Changes Throughout a Scene Change the Labels Accordingly In the example to the right we can see that the brake lights for this van is ON in certain frames due to the angle of the camera, but in other frames it is difficult to see the brake lights due to the camera angle and be labeled as Can’t Tell. Once the angle makes the brake lights difficult to see and you cannot say with certainty whether they are ON or OFF you should label it as Can’t Tell. Once an attribute becomes difficult to confirm due to camera angle, glare, blurriness, etc., you should consider using the Can’t Tell label.

NO LABEL ZONE (NLZ) RULES & GUIDELINES No Label Zone (NLZ) Basics When creating a ‘No Label Zone’, create one large cuboid to cover the entire area.

DO NOT label any other classes within the ‘No Label Zone’ unless it is an object that enters, exits or is waiting to exit a NLZ (examples) DO NOT cover gas stations, auto repair shops (ie. oil changers), and fast food drive s with a NLZ; we should always label all objects in these areas individually DO NOT annotate house driveways with a NLZ

NLZ Sizing & Positioning NLZs can generally be left at the default height of 2m NLZs should be as long/wide as necessary to cover the area. The NLZ MUST be level with the ground surface (not floating or sinking) DO NOT cover any vegetation or sidewalks with NLZs.

NLZ Parking Lots

The ‘No Label Zone’ should cover all stationary vehicles, alleys within the parking lot If the parking lot has an abnormal shape, use as many cuboids as necessary to cover the entire area without going over buildings, sidewalks, or any other area that does not represent the zone being annotated Annotate all parking lots that the Ego Vehicle isn’t entering, driving in, or exiting, with a NLZ If the Ego Vehicle is driving in, exiting, or entering a parking lot, ALL objects in the parking lot need to be annotated. If there are any other parking lots in the scene that aren’t connected to the

parking lot the Ego Vehicle is in, annotate those parking lots with a NLZ DO NOT annotate parking lots that do not have any vehicles in them DO NOT annotate parking lots that are right next to the street (without driveway or curb separating them) with a NLZ DO NOT label vehicles parked along the road with a NLZ

DO NOT cover cars in very small parking areas outside or inside of Auto Repair Shops garages.

Auto Repair Shops with large parking lots should be covered with NLZs

Objects near NLZs

Annotate any objects on sidewalks, vegetation, or any other surface outside of the parking lot NLZ area

Objects entering/exiting NLZs If an object enters a NLZ, annotate the entire path of the object (including when it is inside the NLZ) If an object exits a NLZ only start annotating it the moment it is outside of the NLZ If an object is waiting to exit a NLZ, annotate the entire path of the object

Grouped Objects (Crowds) Use one or more ‘No Label Zone’ cuboids to annotate groups or crowds. THERE MUST BE 5 or more objects, no more than 10m radius apart, and further than 10m from the drivable surface. When an object exits from a ‘No Label Zone’ group, then it needs to be annotated in the affected frames.

Car Dealerships

Use No Label Zones to cover any parked vehicles - including parked cars at dealerships

Underpasses:

If the Ego Vehicle is on an overpass (road that passes over another road that does not physically join with the overpassing road), annotate a ‘No Label Zone’ on the lower roads which pass under the Ego Vehicle. DO NOT use a NLZ for vehicles above the Ego Vehicle

DO NOT use a NLZ for onramps or offramps to the highway.

LABELS (Click on the label name to view more example images of the label)

Pedestrian - Adult: Human adult or older child (>8 years old) on foot. INCLUDE arms and legs in the cuboid INCLUDE any everyday items (backpacks, cellphones…) INCLUDES standing, sitting and lying humans.

Pedestrian - Child: Human child (≤8 years old) on foot. INCLUDE arms and legs in the cuboid INCLUDE any everyday items (backpacks, cellphones…) INCLUDES standing, sitting and lying humans. Pedestrian - Traffic Controller: Human Adult or older child (> 8 years old) on foot, controlling traffic. INCLUDES traffic police, construction workers controlling traffic, crossing guard, or any other person controlling traffic. MUST INCLUDE signaling device, like batons, flags and signs. Pedestrian - Specialty: Police officer, construction worker, firemen, ambulance personnel, etc. DOES NOT INCLUDE traffic police, crossing guards or any other human directing traffic

Pedestrian with Object - Adult: Human adult or older child (>8 years old) on foot, holding a large object. INCLUDES babies, large boxes, or open umbrellas; pushing a bicycle, motorcycle, cart, stroller, knee scooter, or trash can; pulling a suitcase. MUST INCLUDE both the adult and the object. DOES NOT INCLUDE adults carrying normal day-today items (e.g. backpack, tote bag, purse), or pet’s leash

Pedestrian with Object - Child: Human child on foot (≤8 years old), holding a large object. INCLUDES babies, large boxes, or open umbrellas; pushing a bicycle, motorcycle, cart, stroller, knee scooter, or trash can; pulling a suitcase. MUST INCLUDE both the child and the object. DOES NOT INCLUDE children carrying normal day-today items (e.g. backpack, tote bag, purse), or pet’s leash

Pedestrian with Object - Specialty: Police officer, construction worker, firemen, ambulance personnel holding a large object. INCLUDES babies, large boxes, or open umbrellas; pushing a bicycle, motorcycle, cart, stroller, knee scooter, or trash can; pulling a suitcase. MUST INCLUDE both the specialty person and the object. DOES NOT INCLUDE specialty people carrying normal day-to-day items (e.g. backpack, tote bag, purse), or pet’s leash DOES NOT INCLUDE traffic police, crossing guards or any other human directing traffic

Animal - Dogs/Cats: Small domestic animals such as dogs and cats, on foot. INCLUDES animals on a leash (do not include the leash) DOES NOT INCLUDE dead animals (roadkill) or animals being carried. EXAMPLE: An adult walking a dog would yield two cuboids, one “Animal - Dogs/Cats” and one “Pedestrian Adult”.

Animal - Other: Non-domestic animals of any size on foot. INCLUDES larger “domesticated” animals such as sheep, horses, cows and donkeys, birds on foot like ducks, deer, squirrels, skunks and raccoons

If the animal has a rider (like a horse or donkey), the cuboid MUST INCLUDE both animal and rider. DOES NOT INCLUDE dead animals (roadkill) or flying birds

Vehicle - Trailer: Any object designed to be towed by another vehicle. Object cannot move under its own power INCLUDES boat on trailer, flatbed trailer, cement mixer, caravan, shipping container on a trailer, trailers of 18wheelers, bike trailer DOES NOT INCLUDE boats, shipping containers etc. not currently on a trailer. Does not include cars being towed EXAMPLE: Trailers with other vehicles on top of them should be annotated with only single cuboid for both the trailer and the vehicles atop of it, labeled as ‘Vehicle - Trailer’.

Vehicle - Wheelchair: Wheelchair. INCLUDES both wheelchair with rider and without rider. If the wheelchair has a rider, the cuboid MUST INCLUDE both the human and the wheelchair.

Vehicle - Other Personal Mobility: Personal mobility vehicle like a skateboard, Segway, roller blades. INCLUDES both vehicles with rider and without rider. If the object has a rider, the cuboid MUST INCLUDE both the human and the vehicle. DOES NOT INCLUDE wheelchairs, knee scooters, bicycles, vespas, sitting scooters, all-terrain vehicles, trikes, and motorcycles.

Vehicle - Bicycle: Bikes, including tandem and recumbent bicycles. INCLUDES both bikes with rider and without rider. If the bike has a rider, the cuboid MUST INCLUDE both the human and the bike. DOES NOT INCLUDE pedestrians pushing bicycles

Vehicle - Motorcycle: Motorcycle. INCLUDES both motorcycles with rider and without rider, vespas, and sitting scooters. If the motorcycle has a rider, the cuboid MUST INCLUDE both the human and the motorcycle. DOES NOT INCLUDE all-terrain vehicles, trikes, and motorcycles with sidecar, or pedestrians pushing motorcycles

Vehicle - Other (Motorized) Riding: Three or four wheeled vehicles with the rider outside (on top). INCLUDES all-terrain vehicles (ATVs), quads, trikes, motorcycles with sidecar, vehicles with rider and without rider. If the vehicle has a rider, the cuboid MUST INCLUDE both the human and the vehicle. DOES NOT INCLUDE convertible cars, construction vehicles, tractors, or any two-wheeled vehicles like motorcycles without sidecar, vespas, sitting scooters.

Vehicle - Car: Normal sized vehicles, such as cars, pickup trucks, SUV’s, small passenger minivans, small flatbed pickup trucks. INCLUDES cargo on the roof or trunk, open doors, hoods or trunks. DO NOT INCLUDE antennas or side-view mirrors

Vehicle - Van: Large passenger vans, moving vans, delivery vans, news vans. DOES NOT INCLUDE small passenger minivans.

Vehicle - Truck: Large truck shaped vehicles such as freight trucks, oil tank trucks, large flatbed trucks, large delivery trucks, large moving trucks, tractor units, garbage trucks, cement trucks, RVs.

INCLUDES open lift gates / lifts on the back of the truck Note: A good rule to follow for larger/modified pick-up trucks that can be labeled as trucks instead of cars is if it’s a lot larger than a regular pickup truck (2.0, 5.0-5.5, 2.0) then label it as truck

Vehicle - Tow Truck: Large vehicle designed to tow other vehicles, like cars or trucks. DOES NOT INCLUDE objects being towed by the tow truck - label these objects separately

Vehicle - Bus: Bus or shuttle designed to transport large numbers of people. DOES NOT INCLUDE bendy (articulated) busses or school busses.

Vehicle - Bendy Bus: ‘Vehicle - Bus’ that is composed of two or more connected segments. Each segment of the bendy (articulated) bus MUST BE ANNOTATED with its own cuboid.

Vehicle - School Bus: ‘Vehicle - Bus’ that transports children to school. Typically a yellow bus, with flashing stop signs when dropping off/pickup up children.

Vehicle - Construction: Vehicles primarily designed for construction. Typically very slow moving or stationary. Includes cranes, caterpillars, bulldozers, excavators. DOES NOT INCLUDE forklifts, powerline utility trucks, or cement trucks

Vehicle - Mobile Traffic Control: Mobile signs or boards (including electronic signs) that are meant to direct traffic. Typically mounted on a trailer or on the back of a pickup truck. Cuboid MUST INCLUDE the entire object (sign and towing hitch if on a trailer). DOES NOT INCLUDE traffic control signs or boards that cannot move (i.e., have no wheels).

Vehicle - Other: Unusual vehicles such as forklifts, tanks, street sweepers, duck boats, golf carts, tuk-tuks.

Emergency - Police Vehicle: Police vehicles. Does not include police motorcycles.

Emergency - Police Motorcycle: Police officer on a motorcycle. The cuboid must include both the police officer and the motorcycle.

Emergency - Other: Non-police emergency vehicle. Examples include ambulances and firetrucks.

Railway Vehicle: Any vehicle that travels on rails, like light rail, tram or train. For trains that consist of several linked units, annotate each segment with a separate ‘Railway Vehicle’ cuboid.

Other Dynamic Object: Any object in motion left on the driveable surface that is too large to be safely driven over. INCLUDES balls rolling on the street, runaway strollers or shopping carts.

STATIONARY LABELS Construction Object - Construction Cones and Poles: Any temporary cone or short temporary pole (usually orange or striped and used in construction), placed to redirect traffic. DOES NOT INCLUDE permanent structures like bollards

Construction Object - Construction Zone Signs and Construction Sign Boards: Any construction related signs or boards (including electronic signs) that are meant to direct traffic.

Construction Object - Temporary Construction Barrier: Temporary small walls used to block off construction zones. Typically plastic, sometimes concrete, and brightly colored about knee or waist height.

Construction Object - Temporary Fence: Temporary walls used to block off construction zones for buildings. Typically metal or wood and 2-3 meter high. DO NOT ANNOTATE if the fence is further than 5 meters from the driveable region.

Construction Object - Other: Any other large (larger than 0.5m high) construction object. Includes stationary cement mixers, wreckage, generator, wheelbarrow. Object MUST BE INSIDE the work zone area (marked by indicators like barrier or cones). DO NOT ANNOTATE if the objects are not on the normal drivable region (road work, etc.) DOES NOT INCLUDE smaller items such as sandbags, tools.

Static Road Object - Pushable or Pullable: Objects that can be moved by a pedestrian. INCLUDES garbage bins with wheels, shopping carts, wheelbarrows, moving carts. Object MUST BE larger than .5m high and must currently be stationary. DOES NOT INCLUDE garbage bins that do not have wheels, or any garbage bins that are permanently in the ground. Object can be on the road, on the sidewalk, or away from the driveable surface.

Static Road Object - Other: Any object larger than .15m obstructing the normal drivable region. INCLUDES dumpsters, dead animals, tree branches, trash bags, mattresses, ladders, shipping containers not on a trailer, and temporary objects on driveways.

No Label Zone (NLZ): Large cuboid used to cover parking lots, grouped objects, and highway underpasses. For NLZ rules, please see the No Label Zone Rules & Guidelines Note: Occlusion attribute on No Label Zones should ALWAYS be set to 'Can't Tell'

ATTRIBUTES TABLE Towing Attribute

Rider Attribute

Occlusion

Turn Signal Lights

Any Lights

Brake Lights

Reverse Lights

Parked

TOWING ATTRIBUTE

For each vehicle, select the attribute "Is the vehicle towing or being towed?"

Being Towed: The vehicle/trailer is being towed by another vehicle, or you are reasonably sure that it is being towed (you can see a moving shipping container) (More examples / Edge Cases here) Towing: The vehicle is towing another vehicle

Neither: The vehicle is not towing, is not being towed, or you are not certain if it is being towed or not towed.

RIDER ATTRIBUTE

For animals and vehicles select the attribute "Does the vehicle or animal have a rider?"

With Adult Rider: Vehicle currently has a rider. Rider is an adult or older child (>8 years old)

With Child Rider: Vehicle currently has a rider. Rider is a child

Without Rider: Vehicle does not have a rider

OCCLUSION

For ALL OBJECTS, select the attribute "What percent of this object is occluded (blocked by other objects in camera view)?" Occlusion is how much the object is blocked from our view in Camera View by other objects (ie. walls, vegetation, cars, etc.) If the object is visible in more than one camera view, select the least occluded (lowest %) answer. If the object is behind glass treat the glass as a wall. Annotate each frame’s occlusion individually. Examples

0-20%: Object is not occluded at all, or slightly occluded

20-40%: Object is slightly - moderately occluded

40-60%: Object is moderately - more than half occluded

60-80%: Object is more than half - almost completely occluded

80-100%: Object is very occluded to completely occluded - not visible in any camera image -

Can’t Tell: Object that cannot be occluded (eg. No Label Zone) or object is too far away or blurry to determine the occlusion percentage DOES NOT INCLUDE objects that aren’t visible due to being fully occluded (use 80-100% if we cannot see the object)

TURN SIGNAL LIGHTS

For every vehicle, select the attribute “Which turn signal indicator light is on? (if any)”. These are from the perspective of the vehicle’s driver

Off - Neither the left or right turn signal is active If only one turn signal is visible, and it is off, mark the object as Off.

Left - The vehicle’s left turn signal is visible, and is active in this frame INCLUDES left indicator lights that are visibly on through windows/glass

Right - The vehicle’s right turn signal is visible, and is active in this frame INCLUDES right indicator lights that are visibly on through windows/glass

Both - Both of the turn signals are visible, and are active in this frame (ie. hazard lights) INCLUDES indicator lights that are visibly on through windows/glass

Can’t Tell - Use Can’t Tell if...

- The objects turn signals aren’t visible in this frame - The object doesn’t have any turn signals - There is any uncertainty whether the turn signals are on or off (due to blurriness, distant object, or glare) DOES NOT INCLUDE indicator lights that are visibly On/Off through windows/glass

ANY LIGHTS

For vehicles, objects, animals and pedestrians select the attribute “Are any lights on? (in at least 1 frame)” Any lights includes all lights of a vehicle or object (tail light, head light, turn signal, or any other light on the exterior OR interior of the vehicle) and any lights that can be held or found on the body of a pedestrian or animal (flashlights, cell phones, lights attached to pets, etc.) If a light is on / visible in one frame, mark as On in ALL frames

On (Yes) - If any lights are on at ANY point in the task - even for 1 frame INCLUDES any lights that are visibly on through windows/glass

Off (No) - If lights are visible and NO lights are on at any point in the scene

INCLUDES any lights that are visibly off through windows/glass

Can’t Tell - Use Can’t Tell if... - The object doesn’t have any lights that can be turned On/Off (cones/poles, garbage cans) - The object’s lights are occluded at every point during the scene. - We are uncertain if any lights were On/Off due to blurriness, distance, glare. - Any Lights on Pedestrian objects must always be 'Can't Tell'

BRAKE LIGHTS

For every vehicle, select the attribute “Are the object’s brake lights on?”

On (Yes)- The brake lights are active in this frame INCLUDES brake lights that are visibly on through windows/glass

Off (No) - The brake lights are not active in this frame INCLUDES brake lights that are visibly off through windows/glass

Can’t Tell - Use Can’t Tell if… - The object doesn’t have brake lights - The object’s brake lights aren’t visible in this frame - Vehicles which are faced perpendicular to the camera view should be labeled as “Can’t Tell” - We are uncertain whether the object’s brake lights are On/Off due to blurriness, angle, glare, or distance.

REVERSE LIGHTS ATTRIBUTE

For every vehicle, select the attribute “Are the object’s reverse lights on? (in at least 1 frame)” This is asking whether or not the reverse lights were active AT ANY POINT in the scene.

On (Yes) - The reverse lights were active at ANY point in the task - even for 1 frame INCLUDES reverse lights that are visibly on through windows/glass

Note: If at no point the back of a vehicle is visible, please do not set Reverse Lights to 'Off', set it to 'Can't Tell'.

Off (No)- The reverse lights were never on in this task - not even 1 frame INCLUDES reverse lights that are visibly off through windows/glass

Can’t Tell - Use Can’t Tell if... - The object’s reverse lights aren’t visible at any point in the scene - The object doesn’t have reverse lights - We are uncertain whether the reverse lights were On/Off due to distance, glare, angle, or blurriness.

PARKED ATTRIBUTE

For every vehicle, select the attribute “Is the object parked in every frame?” A vehicle is parked if stopped or standing still, whether or not the driver is visible, and does not have the intention to start moving again FOR ALL frames it is visible. If a vehicle is parked for 79 frames, but begins to move in frame 80, mark Parked as No.

Yes - The object was parked in ALL of the frames of the task INCLUDES cars stopped on the side of the freeway with or without hazard lights on INCLUDES cars parked in driveways, cars against the curb, or in a parking lot the SDC is in.

No - The object was not parked in EVERY FRAME during the scene or if the object is parked in some frames, but begins to move later on INCLUDES Any cars stopped with the intention to move again, (ie. cars stopped at a stoplight or intersection, brake lights on), their Parked attribute should be set to 'No'. INCLUDES cars waiting to go through a toll booth INCLUDES cars that are stopped by traffic controllers INCLUDES cars that are pulled over to make way for emergency vehicles INCLUDES cars that are stopped while loading / unloading passengers or goods

Can’t Tell - Object is too far away to tell what the parked status is.

LABEL EXAMPLES (click the label to return to the label de nition) Pedestrian - Adult:

Pedestrian - Child:

Pedestrian - Tra c Controller:

Pedestrian - Specialty:

Pedestrian with Object - Adult:

Pedestrian with Object - Child:

Pedestrian with Object - Specialty:

Animal - Dogs/Cats:

Animal - Other:

Vehicle - Trailer:

Vehicle - Wheelchair:

Vehicle - Other Personal Mobility:

Vehicle - Bicycle:

Vehicle - Motorcycle:

Vehicle - Other (Motorized) Riding:

Vehicle - Car:

Vehicle - Van:

Vehicle - Truck:

Vehicle - Tow Truck:

Vehicle - Bus:

Vehicle - Bendy Bus:

Vehicle - School Bus:

Vehicle - Construction:

Vehicle - Mobile Tra c Control:

Vehicle - Other:

Emergency - Police Vehicle:

Emergency - Police Motorcycle:

Emergency - Other:

Railway Vehicle:

Other Dynamic Object:

Construction Object - Construction Cones and Poles:

Construction Object - Construction Zone Signs and Construction Sign Boards:

Construction Object - Temporary Construction Barrier:

Construction Object - Temporary Fence:

Construction Object - Other:

›Static Road Object - Pushable or Pullable:

 

Static Road Object - Other:

 

No label Zone (grouped objects)

No Label Zone (parking lot separate from SDC):

No Label Zone (SDC on Overpass):

Annotate all other objects not in no label zone (ex. cars on on and off-ramps)

ATTRIBUTES EXAMPLES (click the attribute to return to the attribute de nition)

Occlusion

0-20%: Object is completely visible, or slightly occluded

20-40%: Object is slightly - moderately occluded

40-60%: Object is moderately - more than half occluded

60-80%: Object is more than half - almost completely occluded

80-100%: Object is almost occluded - not visible in any camera image

Can't Tell: Object is a 'No Label Zone' or the Object is Too Far Away

Split Occlusion: Add up the surface area of the poles/fences (The amount of space that the poles/fences cover) and treat that value as you would normally for occlusion.   An acceptable guess would be 0-20% OR 20-40% occlusion.