Depth Semantic Segmentation

INSTRUCTIONS
Version Number 2.0
Instructions

● Please Semantically Segment the following objects if they appear in the image.

Special Rules:

● Not all pixels need to be labeled

● Do NOT label the back of traffic signs or traffic signals

● Pay attention to new labels

● If
a sidewalk has a curb attached to it, please include it as part of the Sidewalk label. When a
curb is NOT attached to a sidewalk, then leave it unlabeled.

Labels

Name Instanced Descrip on Example

Road No Surfaces a car can legally
drive on.
(i.e. does not include
sidewalk)
 Note: The white markers in the image above should be marked as “Lane Lines”
whereas the rest of the road should be “Road”
Lane Lines No Paint or markings on the
road indica ng where
cars are supposed to
drive.
Should all be ver cal and
parallel to the direc on
of travel.

Do not label the stop

line or any lines in a
parking lot, these
should be labeled as Note: In the image above the yellow line, as well as the white lines should be marked
ground paint. as “Lane Lines”
Ground Paint Yes Any other ground paint
that is not one of the
lane line classes above,
eg, crosswalk, arrows,
speed limits,and other
texts.

Vegeta on No All bushes, shrubs,

foliage, and other clearly
identifiable vegetation

Trunk No The tree trunk or body of

the tree. The treetop gets
its own label as
vegetation.
Terrain No Grass and all other types
of horizontal spreading
vegetation.

Include soil

Sidewalk No Part of ground

designated for
pedestrians or cyclists.
Delimited from the road
by some obstacle, e.g.
curbs or poles (might be
small), not only by
markings. Often elevated
compared to the road.
Often located at the sides
of a road.
Label the curb that is attached to a sidewalk:
● If a sidewalk
has a curb
attached to it,
please include it
as part of the
Sidewalk label.
When a curb is
NOT attached to
a sidewalk, then
leave it
unlabeled. Do NOT label curbs that are not attached to a sidewalk:

Building No Building, skyscrapers,

 houses, bus stop
building, garage, and
carport.

Include scaffolding
attached to buildings.

Wall No Individual standing wall,

not part of a building.
- For example,
highway medians
and fences.

General Signs Yes All signs which are not

relevant to traffic
conditions. Including
freeway signs listing
distances to exits and
signs listing road names.

(Just the metal sign, label

the pole separately.)
Do not label the back of
signs.
Cone Yes Construction cones:
usually orange, can be
with or without stripes,
can be skinny or barrels
as well. Only temporary
objects.

Temporary Yes Construc on barriers.

Barrier Include legs as well.

Road Sign Yes Digital construction signs,

road work signs, and any
other signs that pertain to
traffic conditions such as
pedestrian crossing and
no u-turn signs.

(Just the metal sign, label

the pole separately.)

Do not label the back of

signs and flags.
Traffic Signal Yes (Just the metal sign, label
the pole separately.) Do
not label the back or
sides of traffic signals.

Stop Sign Yes A eight-sided red sign

with a white border and
“STOP” in white text
(Just the metal sign, label
the pole separately.)
Do not label the back of
signs.

Speed Limit Yes (Just the metal sign, label

Signs the pole separately.)
Do not label the back of
signs.

Do not label warning

speed limits (yellow
speed limit signs), they
should be labeled as a
general sign.

Yield Signs Yes A three-sided sign with

white border and “Yield”
text.
Vehicle Yes General consumer
vehicles and
construction
vehicles (like a
backhoe).

- Vehicles
should be 20x20
pixels in size to
be labeled

Truck/Bus Yes Semi-trucks, box-trucks

(fedex/ups), and buses.

Do NOT include
construction trucks, they
should be labeled as
Vehicle.

- Vehicles
should be 20x20
pixels in size to
be labeled
Poles Yes All thin vertical objects
taller than ~1 meter high.
This includes the pole of
signs. Poles which are 3
pixels or less in width do
not need to be labeled.
Examples include: street
lamps, flag poles, the
base of signs, etc.

Criteria for Traffic Signal Annotation

● The traffic light should be visible enough to distinguish its orientation.

● NOTE: Do not annotate digital traffic signs such as LED Speed limit or no turn signs.
Special Rules

Rule Example
Label Signs and Poles Seperately

NOTES CORRECT INCORRECT

Do NOT label the back of
tra c signs or tra c lights ✔ [explanation] ✘ [explanation]

Version History

● 3/10/2019, version 1.0

○ Updated instructions to standard template
○ Need to add photos with examples of classes (labels, attributes)
● 5/1/2019, version 2.0
○ Remove yield signs, add poles class
○ Do not label the back of signs
○ Lane lines should be along the direction of travel
○ Vehicles should be 20x20 pixels in size to be labeled
● 9/23/19, version 3.0
○ New labels added: vegetation, trunk, terrain, sidewalk, building, sky, and wall
● 10/21/2019, version 4.0
○ New labels added