Handbook

(Zebra Lidar Static Object)

 Updated: 01/28/20

Resources
Intro Video

Standard Sign Thickness is 0.1m

Sizing
Tools and Tips 1. “Show Projected Points” option
2. “Distant Points” Slider” tool
3. Pitch and Roll
4. Using “L” key

Instructions Overview
Minimum LiDAR Points Cuboid Sizing Using unique cuboid
for each sign
Directional heading of Match size to camera
signs and traffic lights view

Label examples
Traffic Signs Pole Object Traffic Guide
Traffic Beacon Traffic Signal Dynamic Barrier

Common Errors
 Tools and Tips
“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 objects 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.

“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.
Pitch and
Roll

After you annotate, adjust the pitch and roll of the cuboid to
match the lidar.

Using the
“L” key

Press “L” on the keyboard to color by cuboids and check for

label errors.
NOTE: Pole objects and traffic guides have similar colors.
BEWARE!
 Instructions Overview
Minimum LiDAR All objects in the radius of the camera view need to be
Points annotated if it has at least 1 lidar point.

Cuboid 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.

Thickness of signs should not exceed 0.1 m and pole sizing should
match camera view. (Make the cuboid “tight” ONLY if there are
sufficient lidar points.

Match size to camera view, BUT positioning should be matching lidar.

 Example:

Using unique
cuboid for each
sign
Note: Each sign should be annotated separately.
Directional TRAFFIC SIGN:
heading of traffic
signs and traffic
lights

TRAFFIC LIGHTS:
 NOTE: Directional heading of signs/traffic lights needs to face the side
with markings

Match size to
camera view

Note: Match size to camera view, BUT positioning should be matching

lidar.
 Label examples
Traffic signs

DO NOT include the pole supporting the sign, advertisement billboards

and other signs that are not related to traffic.
Pole Object

DO NOT include the base supporting structure of the pole,or any objects
on top of the pole.

DO NOT include electricity poles, telephone line poles, trees,

advertisement billboard poles, or any other poles not related to traffic.
Traffic Guide

DO NOT include the base of the post; only annotate the guide itself.
 NOTE: Annotate each guide separately.

Traffic
Beacon

Note: Only the light should be annotated.

Traffic Signal

Note: Only annotate the signal; DO NOT include the pole in the
annotation
Dynamic
Barrier

Note: Does not include any traffic signs or signals attached to the
barrier; annotate these separately as their respective label.
 COMMON ERRORS
Error Type Incorrect Correction Notes

Annotation - 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

Annotate
through
occlusion
Directional The sign should be facing
Heading of the side with markings.
sign
cuboids

Missing Make a unique cuboid for

Traffic each traffic guide.
guides
Pole
cuboids

Bad Heading Directional heading matters on heading Traffic Signs (Proper heading
and sizing and size)
Standard Size for thickness of signs is
0.1

Missing Complimentary Signs are to be

Label annotated separately. Traffic
guide on car stickers.

Not all tasks have good

camera calibration