Zebra Training

Manual
(Zebra Lidar Dynamic )

Version 2.0
Updated:6/06/2021
History / Change log
● 06/06/2021, Version 2.0
○ Added new clarification and edge case
○ Added the new labels (Debris and Movers) - the new guidelines will start on
060721(3PM PHT).
● 3/12/2021, Version 1.0
○ Created a training Manual
○ No more Per Attribute - Scattered Points
Table of Contents

Instructions Overview: How to annotate?

● Minimum Lidar Points
● Cuboid Sizing - Vehicles
● Rearview Side Mirrors
● Occlusions/Visibility
Guides, Tools and Tips:
● Intro Video Guide
● Show Projected Points
● "Distant Points" Slider Tool
Label and Attribute Examples:
LABELS:
● Vehicle
○ Cars
○ Vans
○ Trucks/Trailers
○ Buses
○ Heavy Equipments
○ Tram Train
● Vulnerable Vehicle
○ Bicycle
○ Motorcycle
○ Wheelchair
○ Stroller
○ Personal Transporter/Other
● Pedestrian
● Animal
● Debris
● Movers
Recent Changes

● Objects Inside A Building

● Vehicle Object
● Human-Like Mannequin or Dummy (New Rule)
● Vehicle Annotation
● Trailer
● Carried Object
● Truck Trailer
● Vulnerable Vehicle
● Pedestrian Carrying an Object (New Rule)
● Object Carried by a Pedestrian (New Rule)
● Person Pushing an Object
● Animals
● Animal Pulling an Object
Common Errors
More Questions and Answers

● Bendy Bus
● Truncated Objects
● Occluded Objects
Clarification and Edge Cases
 Instructions Overview: How to annotate?
Minimum Lidar Points
Minimum Lidar All objects in the radius of the camera view need to be annotated if it has
Points at least 1 lidar point.

Cuboid Sizing - Standard Sizing

There should be no more than 10 cm of space between the cuboid border
and the closest point on the object. (Make the cuboid “tight” ONLY if there
are sufficient lidar points.)
If missing a full side of lidar points and height/width/ or length is not clear,
follow standard sizing measurement for missing side.
 Example

Rearview Side Mirrors

Only include rearview if there are lidar points present. Do not make extra
room on the other side of the car if the other side mirror has no lidar
points present. Antennas should be excluded.

Incorrect:
 Correct:

Occlusion
Note: Even if a lidar view clearly shows the shape of a car or a truck, if
there is no line of sight, DO NOT ANNOTATE!
Visibility
All objects with 1 lidar point must be annotated. Only annotate lidar points
visible in camera view.

Cuboid sizing should follow lidar view and standard sizing (ONLY if not
enough lidar points).

Guides,Tools and Tips

Intro Video Guide
Here is a sample https://cl.ly/7ecce8cc0797
video guide on how to
spot a missing
vehicle.
“Show Projected Points” Option

This option can be toggled on/off in camera view. This allows lidar
points to be overlayed with the current camera view, to easily find
vehicles to annotate with lidar points.

Note: Camera calibrations are not always accurate so make sure to

double check if lidar points you see are valid. Watch out for false
cuboids (ie. railings, ground points, echo, etc..)

“Distant Points” Slider Tool

 This option can be accessed via lidar view in the bottom left toolbar.
This option makes it easier to see far away lidar points. (Lidar points
are smaller as the distance between the SDC and object increases.

Labels and Examples

Vehicle
Cars

● Sedans
● Coupes
● SUVs
● Pickup Truck
● Mini-vans

Vans

Van: For example,

Ford Transit,
Mercedes-Benz
Sprinter and
Volkswagen Crafter
Minibus
RV/Motorhome
 Mobile RVs are considered Vans. Generally you can tell by the vents
on top and the overhang on top of the front seats.

Trucks
​ 2 common truck types (With standard length)
● Moving Truck
1) Moving trucks (Short)
● Truck Head
~10.5 Meters
Note: Moving trucks do not have a detachable trailer.

Back View: Roll up shutter doors.

2) Semi-trucks (Long)

~15 meters long (With Trailer)

Note: Semi-trucks have a detachable trailer

Semi-trucks with only the tractor or “truck head” should
be still annotated as “Vehicle”.

Standard length is ~7 meters long.

Back View: Double doors

Trailers
● Truck Trailer
● Trailer
● Caravan
 Note: In both of the above images there should be one “Vehicle”
cuboid around the front of the car and the first trailer, and one
“Vehicle” cuboid around the second trailer.

Note: These should also be labeled as “Vehicle”

Bus

Note: All types of Busses should also be labeled as “Vehicle”

Heavy Equipment
● Tractor
● Excavator
● Dumper

Tram Train
 Vulnerable Vehicle
Bicycle

● Human
powered
wheeled
vehicle
● Single person
bike
● Tandem bike

If “With Rider”
includes the rider in
the cuboid.

Motorcycle

All motorized two

wheeled vehicles

If “With Rider”
includes the rider in
the cuboid.

Wheelchair

Any wheeled chair

whether its designed
to be pushed or
powered

If “With Rider”
includes the rider in
the cuboid.
Stroller

Includes objects
used to transport
babies or infants and
is typically pushed by
an adult pedestrian

Personal Transporter

● Skateboard
● Segway
● Kick scooter
● Unicycle
● Roller skates

Other

Includes any
vulnerable vehicle
that does not fit
within these object
types, such as:
recumbent bicycle
bicycles/motorcycles
with three or four (or
more) wheels
 Pedestrian
Adult/Child: Includes
all persons walking
along a road or in a
developed area.

Animal
Any animal of the
size of a full-grown
cat or larger, such as
medium-sized or
large dogs, sheep,
horses, deer, cows,
moose.
NEW LABELS ADDED. PLEASE READ AND
UNDERSTAND!!!

Debris
Debris to any rigid
body objects larger
than 15x15x15 cm
located on a
conventional ego
road, which are
foreign to the normal
roadway
environment and
pose danger to
vehicles (the ego
vehicle and vehicles
on
other lanes) hence
interfere with normal
driving.
 Movers

Mover to all means

of transportation
without a rider,
typically used by a
person to carry
goods (pulling or
pushing) or
supporting a person.

INCLUDES:
Shopping Carts
Walkers
Shopping Trolley
bags
Rolling Luggage
Wheelbarrows
Handcarts
Pallet Jacks
Hand Trucks
Toy Wagons
Flatbed Trolleys

Recent Changes
Object Inside A
Building

1. Any object inside a

building, seen
through a window,
should not be
marked at all.

Vehicle Object

2. An object seen
through the windows
of a vehicle should
be marked in the
standard way (but
objects inside
vehicles should not
be marked).
Human-Like
Mannequin or
Dummy (New Rule)

3. Any artificial object

appearing on a
poster/billboard or as
a reflection should
not be marked at all.
In contrast, a
human-like
mannequin or
dummy should be
marked in a
standard way as a
Pedestrian.

Vehicle Annotation

4. For vehicles, the

definition of an object
includes, for
example, its side
mirrors, bumpers
and roof racks/box,
but not vertically
extended parts such
as antennas, cranes
or ladders.
Trailer

5. If a trailer is
attached to a vehicle,
then the
Vehicle-object does
not include the trailer.
Instead, the trailer
should be marked as
a separate object
and label it as
TRAILER.

Carried Object

6. If a vehicle is
carrying another
object, e.g. if a car is
being transported on
the back of a truck, a
bicycle mounted on a
car for transportation
or a person standing
or sitting on the back
of a truck, then this
object the vehicle is The objects being carried should not have their own annotations
carrying should be since they are included in the carrying vehicle’s marking.
included in the
Vehicle-object.
Truck-Trailer

7. For trucks, the

definition of an object
includes the
trailer/container-part,
as long as there is
only one
trailer/container-part.
For example, if the
truck involves a truck
head that is pulling
two semi-trailers,
then the truck head
and the first trailer
should form a single
Truck-object,
whereas the second
trailer should form a
separate
Truck-object.

If a truck involving a truck head and a single semi-trailer is

making a sharp turn and the angle between the direction of the
truck head and its trailer is around 45 degrees or more, then the
directional heading should follow the truck head .
Vulnerable Vehicle

8. For two-wheelers,
such as bicycles and
motorcycles, an
object should include
the two-wheeler itself
as well as, for
example, rearview
mirrors and
saddlebags. Also, if
there is a rider, the
rider should be
included in the
two-wheeler object.

If there are one or more passenger(s), the passenger(s) should

also be included in the two-wheeler object.

If a person is not on the two-wheeler, but for instance standing

right next to it, the person should not be included, but instead
marked separately as a Pedestrian.
Pedestrian Carrying
an Object (NEW
RULE)

9. For Pedestrians,
an object includes
everything the
person is wearing or
carrying. For
example, a helmet,
hat, coat, umbrella,
backpack or bag are
considered to be a
part of the object.

If the pedestrian is carrying a very large or extended object, such

as a long wooden plank or a pair of skis, then it is still
considered to be a part of the object. Also if a pedestrian is
carrying a child, then the child is a part of the pedestrian.
Annotate the pedestrian with the child with one cuboid only!
Object Carried by a
Pedestrian (NEW
RULE)

10. If more than

one pedestrian is
carrying the same
extended object,
then the extended
object should only
be considered to
be a part of one
of the
pedestrians.

Person Pushing an
Object

11. If a person is
pulling or pushing
an object, such as
a stroller,
wheelchair or
bicycle, then this
object should be
marked
separately .
Animals

12. For Animals, an

object includes
everything the animal
is wearing or
carrying. Also, if
there is a rider, the
rider should be
included in the
animal object and
label it as ANIMAL.

If there are one or

more passenger(s),
the passenger(s)
should also be
included in the
animal object and
label it as ANIMAL
still.
If a person is not on the animal, but for instance standing right
next to it, the person should not be included, but instead marked
separately and label it as PEDESTRIAN .

Animal Pulling An
Object

13. If an animal is
pulling something, for
example a cart, the
animal should form a
single Animal-object,
and the cart should
form a separate
object and label it as
Vulnerable Vehicle.
 If an animal pulling a cart is making a sharp turn and the angle
between the direction of the animal and the cart is around 45
degrees or more, then the directional heading should follow the
animal head .

Common Errors:
Error Type Incorrect Correction Notes

Annotation Cargo such as

bicycles should be
included as part of
the vehicle that is
carrying it. Do not
use a seperate
cuboid.
False False Cuboids
Cuboid (Railings) [Gif]

Cuboid looks good

in camera

https://d2ddoduugvu
n08.cloudfront.net/it
ems/3q383q1N3d24
2W1W2l0b/Screen%
20Recording%2020
19-08-06%20at%20
11.43.20.06%20AM.
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or-Id=3325237

Truck Where there is no

Sizing sufficient lidar points
for trucks use length
10.5m for moving
trucks and 15m for
semi-trucks.
Missing Missing objects in
objects traffic. (Note: Do not
mistake railings,
signs, or ground
points for vehicles.)

Again, only
annotate objects
that can be seen in
the camera view!

False Do not annotate

Cuboids cuboids that does
not appear in
camera view
especially with the
text saying “cuboid
does not appear in
camera view”

Exception to that
rule is objects
appearing in camera
but the cuboid
doesn’t appear in
camera due to bad
camera calibration
those need to be
annotated.
Occluded Occluded objects
Objects should not be
annotated

(Note) If the object is

100% occluded then
DO NOT
ANNOTATE.

False Objects in camera

Cuboids view are annotated
but without any lidar
points. These are
false cuboids.
 - Remember: Zebra = 1 lidar point minimum. No points
= No annotation
- Also not all zebra tasks have good camera calibration
meaning cuboids fit in properly in camera view.
- If good camera calibration = Follow camera view
placement
- If bad camera calibration = Rely more on lidar view

Bad Floating Cuboids

Placement/ due to ground points
Cuboid not being visible
Sizing
Use nearby ground
points as reference
 More Questions and Answers:
GOOD CAMERA CALIBRATION Vs. BAD CAMERA CALIBRATION

1. What is a Good Camera Calibration and Bad Camera Calibration?

Camera calibration is the process of estimating parameters of the camera using
images of a special calibration pattern. (scene captured by the SDC)

Examples:
A. Good Camera Calibration

B. Bad Camera Calibration

STANDARD SIZING

2. Should we be strict with the Standard Sizing?

Answer: We always based our annotations on lidar points but if there’s only a few lidar
points then reference the object thru camera view, check if dimension is within old
standard dimension. If it’s a missing object then enforce the new standard dimension.
Do not change the dimension if the "best guess" or the cuboid size "fits the object" in camera
view. Same rule will follow. This is best applied for missing or 50%-95% occluded objects.

Sample picture has bad camera calibrations.

Question: Should we change the size?

No, since it’s within the standard dimension.
CAMERA VIEW Vs. LIDAR VIEW
3. Do we follow camera view or (lidar points)?
- Follow lidar points. (Check bottom-z)
Ex1. Always follow lidar points especially if it has a BAD CAMERA CALIBRATION.

Ex2. For GOOD CAMERA CALIBRATION.

EXTREMITIES
4. Should we include antennas, side-mirrors and other extremities?
For antenna = NO, side-mirrors = YES, other extremities (trunk/doors open) = YES.

Only include rearview if there are lidar points present. Do not make extra room on the other side of
the car if there are no lidar points present.
Other extremities: trunk or windows open = include in the cuboid!
 Question: What should we follow? (Lidar points or Standard Sizing)

5. Should we include the bags or anything being carried by the

Pedestrian?
- Yes, included it in the cuboid.
6. When should I consider an object as occluded?
- An object should not be annotated only if it’s 100% occluded.
 Question 1: Should we keep this cuboid?
Answer: NO! Object is 100% occluded.

Question 2: Should we keep these cuboids?

Answer: NO! Objects are 100% occluded.
7. Should I annotate Bicycles even without riders on it?
- Yes, it should be included. Follow lidar points. Use best judgment if there are
insufficient lidar points.

Question: How many cuboids should we make for this scene?

Answer: 3 cuboid (1 Vulnerable Vehicle and 2 Pedestrians)
 8. Do we include the cargos/objects/bicycles carried by cars/truck?
- Yes, include it in the cuboid.

Cargo such as bicycles should be included as part of the vehicle that is carrying it. Do not use a
seperate cuboid.
9. Do we annotate these objects?
- No, do not annotate objects that have no wheels. These are container trucks.
OCCLUDED OBJECTS - SNOWY SCENE
10. Should we annotate the objects that are fully covered with
snow?
- No, do not annotate! No visibility, no annotations! If the object is 100% occluded or
totally covered with snow then do not annotate it even if it shows clear, valid lidar
points in the lidar view.
OCCLUDED OBJECT - FOGGY SCENE
11. Should I still annotate this object?
- No, do not annotate! No visibility, no annotation.

CLARIFICATION AND EDGE CASE:

Description and Example Image and Notes Effectivity
Clarification date
 Ignore this object for now! 09032021
Waste Trolley
or Street
Sweeper Bin

09012021
Ground
Compactor
 08262021
FYIs for Debris

08262021

08202021

Do not annotate fixed bollards.

Annotate only the TG.

Annotate only the TG.

 Objects are in the dirt area so ignore, DO
NOT ANNOTATE.
08122021
Traffic Barrels

Do not include the base when annotating traffic

barrels.
08112021
Boat on a
trailer
 08112021
Temporary
Pedestrian
Yield Sign

08112021

Quad Bike

08062021
Objects on
top/carried by
a vehicle
(baggages,
groceries,
person sitting
or standing,
etc.)
 08062021
Fire truck and
Crane
 08062021
Permanent
Bollards vs.
Temporary
Bollards

06082021
A REMINDER!!!

Animals that
can fly should
not be
annotated at all
 6/19/21
Base of the
Traffic Guide
should not be
included

6/19/21
Recent
Updates from
customer:
 06/11/21
More
For the presentation → New GLV for Zebra
Examples: Lidar Dynamic
 Do we also annotate permanent cones/poles or just 06/10/21
Debris: temporary poles/cones?
Permanent
poles/cones

ANSWER:
We want to annotate only temporary poles/cones.
Are these considered as “Debris”? 06/10/21
Debris:
container truck

ANSWER:
Yes, in that specific example we want them
considered as a "Debris" since in the middle of the
road.
Should we still annotate the Debris on the other lane which is 06/10/21
Debris on the causing interference with other normal driving cars but not
other lane with the Ego car/SDC?
(Not just only only blocking the SDC/Ego Car but for the rest
of the cars in the conventional road)
 ANSWER:
Yes, we want to annotate the Debris on the
other lane if it is causing interference
with other normal driving cars.
For the Shopping carts that’s being piled up, should we still 06/10/21
Debris: annotate it individually or annotate it with one big cuboid only?
Shopping
Carts or Push
Carts in the
road

For Shopping carts that's being piled up, we want

them to be annotated with one big cuboid. Use best
judgment and label it as Mover
 RUBBISH BINS are excluded in the MOVER label, but is 06/10/21
Debris: considered as DEBRIS if it’s placed on a conventional road.
Rubbish bins
in the road

If RUBBISH BINS are blocking the road, we want to

annotate them as a DEBRIS.

We will annotate the larger object that is obstructing the ego 06/10/21
Debris: Larger car but not the smaller object (with arrow), right?
Object

ANSWER:
 Correct, we want to annotate the larger object that is
obstructing the ego car but not the smaller object.

For falling trees, we will annotate the whole tree, including 06/10/21
Debris: Falling the parts extending beyond the edge of the road but not the
small leaves that are scattered, correct?
Trees

ANSWER:
Correct, for falling trees, we want to
annotate the whole tree, including the
parts extending beyond the edge of the
road but not the small leaves that are
scattered.

For the Traffic cones, the directional heading will not be 06/10/21
Debris: Cones strict, right?
- directional
heading ANSWER:
Yes, for the Traffic cones, the
directional heading should not be strict.
For Traffic cones, should we still annotate it if it's on the 06/10/21
Debris: Cones roadside? Not totally interfering with the ego road.
on the
roadside
 ANSWER:
They can be skipped as they are not totally
interfering with the ego road.
06/07/21
New Labels: NEW LABELS ADDED.
Debris and
Movers
PLEASE READ AND
UNDERSTAND!!!

Click these links:

● Debris
● Movers

06/06/21
CRANE

Based on the recent

update, crane should
not be included in
the annotation. For
this case, we
annotate the
pedestrian
separately.

● If there is a PEDESTRIAN ON THE CRANE, then annotate

it SEPARATELY .
● Annotate only the vehicle and do not include the crane in
the annotation.
06/06/21
MERRY GO
ROUND

These dummy animals are very distinct from real animals and do not
need to be annotated.
06/06/21
ADULT
WALKER

The walker should be annotated separately and should be labeled

as MOVER. (included in the new guideline)
 06/06/21
TRUCK

These should be annotated separately

For covered objects (motorcycles/bicycles or cars), it should be 06/06/21

COVERED annotated as such in a standard way (follow standard size for
Vehicle/Vulnerable Vehicle if it has insufficient points).
OBJECT
(VEHICLE/
VULNERABLE
VEHICLE

06/06/21
SNOWMOBILE
OR SLED
Snowmobile and sled
should be annotated
with the rider and
labeled as
VULNERABLE
VEHICLE
 06/06/21
TRAIN
DEPOTS

These train depots should be handled as a truck trailer/container,

i.e. annotate each individually as “Vehicle”.
06/06/21
TRAILER
WITHOUT
TRUCK HEAD
 Annotate it and label it as Vehicles. We will only ignore these
container trailers if it doesn’t have any wheels on it.
06/06/21
DRILLING
EQUIPMENT

Annotate the entire object since it's heavy equipment - a drilling

equipment. Label it as VEHICLE.

06/06/21
GUITAR CASE

The guitar case will be part of the mover class in the new
guidelines. So moving forward it depends on the annotation project.
The pedestrian should be its own cuboid.
 06/06/21
TROLLEY
BAGS

The trolley will be part of the mover class. The pedestrian should
have its own cuboid.
Scattered/Echo Points appear when the SDC picks up 05/24/2021
SCATTERED extraneous data around a dynamic object.
POINTS However, the cuboid should follow the LiDAR track of the
actual object, not the surrounding scattered/echo points.
Cuboids should be sized to the frame of the fullest LiDAR
Even if the Per image of the actual object at its closest distance to the SDC.
frame attribute was Example of scattered/echo points: (Rain) [Gif]
removed for
SCATTERED
POINTS; it should
still be excluded in
the annotation.
 DO NOT INCLUDE THE SCATTERED/ECHO POINTS IN
THE CUBOID!!!
Please do not annotate this object. Same rule will follow, NO WHEELS NO 05/20/21
ANNOTATION!
CEMENT OR
CONCRETE
MIXER

ANNOTATE! 05/20/21
Use your best judgment in annotating this object. Reference camera
MILLING view/Lidar View for its size/dimension.
TRACTOR

05/06/21
● Annotate only the vehicle and do not include the crane in the
ANNOTATING annotation.
● Make the cuboid tight if there are sufficient lidar points.
CRANES ● If there are insufficient points, reference the camera view for the
height and width, the length can be set to 10.5 (or follow standard
size for truck/trailer.
 When annotating trucks or trailers, it should have a tight cuboid excluding 05/06/21
the tow hook. Same rule will follow if it has insufficient points - reference
TRUCK WITH camera view and follow standard size for Truck/Trailer.
TOW-HOOK
 04/01/2021
STANDARD
DIMENSION
Current rule:
Follow the Standard
Dimension.

Clarification:
Still follow the old
Standard Dimension.
Reference first the
camera view for
height and width.

Only enforced this new standard dimension for

missing-occluded objects and if there are INSUFFICIENT
LIDAR POINTS.
04/01/2021
LADDER ON In this scene, the ladder should be included.
TOP OF CAR
Current rule:
Annotate only the
vehicle; exclude the
ladder.

Clarification:
Yes, in this case
the ladder should
be considered as a
roof box and be
included in the
cuboid.

However, for Crane and Fire Truck, the ladder should not be
annotated. Annotate only the vehicle!
 Only exclude the ladder if it’s horizontally placed/attached to a
vehicle.

For vehicles, the definition of an object includes, for example,

its side mirrors, bumpers and roof racks/box, but not
vertically extended parts such as antennas, cranes or
ladders.
04/01/2021
STATUE OR
REAL ANIMAL
Current rule:
Annotate only the real
animal

Clarification:
If the object
resembles an
animal, it should be
annotated as such
in a standard way.
(Same as for e.g.
dummies
resembling
humans; same
height as
humans/animals)

Follow the same rule for human statues; these should be annotated also.
 04/01/2021
SNOW ON TOP
OF THE
VEHICLE

Include the snow in the cuboid/annotation and follow standard

sizing for the vehicle. Height can be adjusted since the snow will be
included

04/01/2021
SNOWY
SCENES

Annotate only the objects that are visible in camera view; if the
object is fully covered with snow then DO NOT ANNOTATE!

04/01/2021
SCOOTER
LYING IN THE
FLOOR (OR
ANY
VULNERABLE
VEHICLE)

Annotate the scooter still even if it’s lying on the floor.

 04/01/2021
NIGHT SCENE

If you can still see an illuminating light from the car

(Headlights/ signal lights/brake lights etc.) then annotate it.

03/18/2021
TRUNCATED
OBJECTS

Current rule:
Annotate only the visible
part of the object in
camera view. Will give
more context once the
customer responds.

Clarification:
If an object is
visible in the
image, the
bounding box
should tightly
encapsulate the
entire object (i.e.
We will discard the new rule about the truncated object and will
also the truncated continue using the old guideline instead.
part).
Annotate the entire object even if the object is truncated in the
image view.
 03/18/2021
VULNERABLE
VEHICLE

There should be 2 boxes, one pulling the other.

Label both as Vulnerable Vehicles.
03/18/2021
EMERGENCY
TRAILERS

Annotate and it should be labeled as VEHICLE.

 03/18/2021
STROLLERS

If it’s a person and a stroller then they should be annotated

separately. Stroller should be labeled as VULNERABLE VEHICLE

03/18/2021
TINTED
WINDSHIELD

DO NOT ANNOTATE IF IT’S NO LONGER VISIBLE IN CAMERA

VIEW
 03/18/2021
TRAM TRAIN

Annotate the train and make cuboids in between gaps

1/04/2021
BENDY BUS

We follow the
same rule for
tram trains,
separate cuboids
for each section

Directional heading should be the same as tram trains and not

truck

Regular Bus: 1 cuboid only

 1/04/2021
FARM
ANIMALS

These farm animals should be individually annotated. They are

quite well separated, and not much overlapping to speak of.
10/23/2020
TEMPORARY
TRAFFIC
SIGNAL

Annotate and label it as Vulnerable Vehicle

 10/23/2020
PEDESTRIAN
INSIDE AN
OPEN
BUILDING

Annotate pedestrians individually.

10/23/2020
PEDESTRIAN
GOING OUT
FROM THE
VEHICLE

Annotate the pedestrian.

GARBAGE 10/23/2020

BINS WITH
WHEELS
 DO NOT ANNOTATE garbage bins with wheels!

OTHER 10/23/2020

OBJECTS

DO NOT ANNOTATE!
10/23/2020
CRANE

ANNOTATE ONLY THE VEHICLE! Exclude the crane

10/23/2020
ZERO
VISIBILITY

NO VISIBILITY, NO ANNOTATION
 09/30/2020
TRUNK OPEN

Make a big cuboid to cover all points, including the trunk open.
09/30/2020
80% occluded

It’s not fully occluded so it should be annotated if points are clear

and valid.
 Recent update
Pedestrian
with umbrella

Include the umbrella in the annotation.

09/30/2020
Taxi Signage

Include the signage in the annotation.

 04/30/2020
Occluded Car
seen through
windshield

Actual car seen

through the
glass-view of the
back of this vehicle

Annotate the car even if it’s fully occluded by another car but can
still be seen at the back through its windshield.

Adjust brightness and contrast.

04/30/2020
Truck Trailer

There are trailers that are larger than the truck head and yes
annotate it with one cuboid only (Truck+Trailer).
04/30/2020
Fully occluded
objects

No visibility, No annotation