INTERSECTION STRUCTURE

LABELING GUIDELINES - HL2

Trung Pham, Isabelle Cosatto

Last Edited: Dec 20 2021

1
 Intersection Structure Classes
Line Classes: Lane Classes:
1. Physical stop line 1. Pedestrian lane
2. Crosswalk stop line 2. Bike lane
3. Virtual stop line
4. Crosswalk exit line
5. Virtual Exit line
6. Bidirectional line
Note:
In this slide presentation, INTERSECTION refers to not only road intersections (multiple roads intersecting), but also other scenarios where vehicles might
need to slow down such as tollbooth, parking gate, roundabout, rail crossing, roads with traffic lights, etc.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 2

 LINE CLASS DEFINITIONS
1) Physical stop line: painted stopping position where vehicles stop and wait
before entering the intersection. Note: There is no a corresponding
physical exit line.
2) Crosswalk stop line: where vehicles start entering the painted crosswalk
areas. When there is no painted stop line, vehicles stop and wait at the
painted crosswalk stop line.
3) Virtual stop line: when there is no painted stop line and no painted
crosswalk, vehicles stop and wait at the position next to the stop sign.
When there is no stop sign, vehicles stop and wait at the edge where the
two roads meet.
4) Crosswalk exit line: where vehicles exit the intersection and cross the
painted crosswalk areas.
5) Virtual exit line: when there is no painted crosswalk, vehicles exit the
intersection at the edge after the two roads meet.
NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 3
 Label classes below are invalid (undefined)
We do not label the following lines:
1) Physical exit line
2) Virtual crosswalk stop line
3) Virtual crosswalk exit line

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 4

 Line Attributes
An attribute is a category within a label class.
1. Occlusion: Assign an occlusion attribute to a stop/exit/crosswalk line when you cannot see the
road surface and the view is blocked by a physical obstacle (vehicle, pedestrian, pole,
tree/vegetation). A line is also occluded if you cannot see it due to darkness, distance or
curvature of the road (a slope for example). When a lane is fully occluded, try to use the
surrounding context to infer the label class.
a. partially occluded: use this attribute when a line is partially occluded.
b. fully occluded: use this attribute when a line is fully occluded.
2. Truncation: Assign a truncation attribute to a stop/exit/crosswalk line when it is truncated by
the image boundary.
3. Egolane: Assign an egolane attribute to a physical/virtual/crosswalk stop line when it belongs
to the ego vehicle’s lane. Do not assign an egolane attribute to a virtual/crosswalk exit line.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 5

 How to annotate polylines?
● Where there are stop lines and exit lines, annotate one line per lane.
● Each line is annotated using a polyline. The polyline must have 3 points corresponding to the left, the middle, and the right points of
each lane.
○ When a lane is narrow (e.g., occluded by the image boundary), it is acceptable to draw a polyline with 2 points.
○ When the image is distorted, it is acceptable to draw a polyline with more than 3 points (to draw a polyline accurately).
● Try to infer the physical left, middle and right points when the line is occluded or virtual.
● When it is hard to tell how many lanes there are (i.e. no lane marking, far distance, turning lanes, etc), treat it as one lane.
● When a lane is occluded by the image boundary -> the left (middle or right) points will be clipped at the image boundary.
● When the view is completely blocked, and there are no other hints from the context, it is acceptable not to draw lines.
Notes:
● In the examples of this slide deck, only one or a few lanes are annotated for demonstration. In the actual labeling, all lanes are labeled.
● Useful Tips: When needed, play the video for additional context; zoom in for precise labeling.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 6

 How to annotate polylines?
● The same lane can have one
physical stop line and one
physical crosswalk line.
● Exit lines or stop lines at the
same level need to be separate
(one line per lane).
● When there are adjacent lanes,
there will be 2 points in the
common limit of the two lanes:
one point on the right limit of
the left lane, and one point on
the left limit of the right lane.
Position those 2 points as
closely as possible to one
another.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 7

● When the stop and crosswalk lane markers are wide and
thick (like white bands), labelers should draw the lines on
the edges closer to the vehicle for physical stop lines and
crosswalk stop lines.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 8

● Physical stop line examples

● The line colors have no meaning. They help differentiate the 2

separated stop lines.

physical stop line, ego lane physical stop line

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 9
● Physical stop line examples

● The line colors have no meaning. They help differentiate the 2

separated stop lines

physical stop line, partially occluded, ego lane physical stop line, partially occluded
NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 10
● Physical stop line examples

physical stop line, partially occluded

● This scene has a physical painted stop line, which is annotated with
the "physical stop line" label (cyan line). Attributes for this line should
be "partially occluded" and "ego lane".
● Although we cannot see the physical stop lane marker for the
opposite road, we can infer from the context that there is one (zoom
in and you can see there is a Stop sign; we can also see the letters
“ST” painted on the street). This line (red line) should be annotated
with the “physical stop line” label . The attribute for this line should be
physical stop line, partially occluded, ego lane
"partially occluded".
● The left and right roads are fully blocked, and we do not see any stop
signs. Do not draw any stop lines there.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 11

● Crosswalk stop line examples

● The line colors have no meaning. They help differentiate the 2

separated stop lines.
● Only draw a crosswalk stop line when there is physical (painted)
pedestrian crossing area.

crosswalk stop line, ego lane, crosswalk stop line

partially occluded
NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 12
● Crosswalk stop line examples

crosswalk stop line, partially

occluded

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 13

● Crosswalk stop line examples

crosswalk stop line.

crosswalk stop line, partially occluded.

Although the image is not clear, we can infer from the other stop lines that this
stop line is a crosswalk stop line.
crosswalk stop line.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 14

● Crosswalk stop line examples This line is not a crosswalk stop line. Do not label.

This is a crosswalk stop line, NOT a physical stop line.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 15

● Virtual stop line examples

● The virtual stop line should align with the stop sign.
● Try to draw 3 points at the left, the middle, and the right
boundary of the lane.
● Only draw a virtual stop line when there is no
physical/crosswalk stop line.
virtual stop line, ego lane

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 16

● Virtual stop line examples
virtual stop line, ego lane
● When there is no stop sign, draw a stop line where the roads
meet (roughly).
● There should be one polyline per lane. Note that the right limit
of the line should not extend to the grass area as the lane
does not extend to that area.
● Only draw a virtual stop line when there is no physical stop line
and no crosswalk stop line.
NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 17
● Crosswalk exit line examples

crosswalk exit line, partially

occluded

● At an intersection, vehicles will cross these crosswalk exit lines

before completely exiting the intersection.
● Only draw a crosswalk exit line when there is a physical (painted)
pedestrian crossing area.

crosswalk exit line NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 18

● Virtual exit line examples

● Only draw a virtual exit line when there is no physical crosswalk exit line.

virtual exit line

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 19

● Examples of bidirectional lane/lines

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 20

 Crosswalk stop/exit line
For special pedestrian crossing areas like below, do not draw a crosswalk stop/exit
line.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 21

 Occlusion
When the view is completely
blocked (100% occluded), and
there are no other hints from
the context, it is acceptable
not to label that particular
side of the intersection (red
circle). Lines on the ego road
and on the right of the
intersection can be inferred
and drawn.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 22

 LANE CLASS DEFINITIONS
1) Pedestrian lane: crosswalk area at an intersection
2) Bike lane: special lane for bikes at an intersection

Note:
We only label physical pedestrian lanes (pedestrian crossing areas) and physical bike lanes, not virtual ones.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 23

 Lane Attributes
An attribute is a category within a label class.
1. Occlusion: Assign an occlusion attribute to a pedestrian/bike lane when you cannot see
the road surface and the view is blocked by a physical obstacle (vehicle, pedestrian,
pole, tree/vegetation). A lane is also occluded if you cannot see it due to darkness,
distance or curvature of the road (a slope for example).
a. partially occluded: use this attribute when a lane is partially occluded.
b. fully occluded: use this attribute when a lane is fully occluded.
2. Truncation: Assign a truncation attribute to a pedestrian/bike lane when it is truncated
by the image boundary.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 24

● Pedestrian lane examples ● Each lane is annotated using a polygon.
● Use as many points as possible to draw the area
accurately.
● Draw a polygon even when a pedestrian crossing
area is partially occluded.
● Try to infer physical boundary points when a
pedestrian crossing area is partially occluded.
● When there is a painted frame, annotate the
inside limits of a pedestrian lane.
● Do not draw lines inside a pedestrian/bike lane
area.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 25

 ● Each lane is annotated using a polygon.
● Bike lane examples ● Use as many points as possible to draw the area
accurately.
● Draw a polygon even when a bike lane is partially
occluded.
● Try to infer physical boundary points when a bike
lane is partially occluded.
Bike lane ● When there is a painted frame, annotate the
inside limits of a bike lane.
● Do not draw lines inside a pedestrian/bike lane
area.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 26

Examples of labeling mistakes

● The red circles show stop lines

(blue lines). There should not
be any stop lines here.
● The orange circles show
crosswalk exit lines (green
lines). There should not be any
crosswalk exit lines here.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 27

Examples of labeling mistakes

● The annotation of pedestrian

crosswalks (polygons with
purple lines) lacks accuracy.
The lines should follow the
contours of the road markings
as closely as possible. They
should not cut into the road
markings.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 28

Examples of labeling mistakes

● There should not be any lines

inside a polygon delimiting a
pedestrian/bike lane.

NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. 29