Standard Size:

If an object doesn’t have enough lidar points then

follow standard sizing.

For Bicycle and Motorcycle (withour riders); just do

your best to get the actual size by following the
camera view, but for positioning it should always
follow LIDAR POINTS.
Common Error: Rear-view Side Mirrors
Only include rear-view 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.
Note: But if there are no enough lidar points, follow standard
sizing.

Common Error: Truck Annotation

Use only 1 cuboid to annotate trucks with 1 trailer!
Label = Truck (Vehicle) + Trailer (Vehicle)

Be aware of truck cuboids that are too short! If not enough lidar points to show true size, use

standard sizing!
Common Error: Occluded Objects

For fully hidden or occluded objects in the range of

the camera = DO NOT ANNOTATE!
Even if vehicle is clear in lidar view, if not visible in
camera view = DO NOT ANNOTATE!

In this example, most vehicles are occluded/hidden

behind the barrier except for the vehicles that are 90%
occluded (showing the roof of the vehicles).
Only 100% occluded vehicles (totally covered by the barrier) are
invalid and should be deleted and referred as “FALSE CUBOIDS”.

Common Error: False cuboids

Watch out for false cuboids in lidar view.

Sometimes the cuboid could look correct in camera view but lidar has priority.

Make sure to double check in lidar view to make sure you don’t have false cuboids.

(Example: 1 - Yellow lines are used to highlight the side of the road. )

(Example :2)

nnotate only if it's visible in the FOV (Field of View)

 A = Car should be annotated.

B = Pedestrian SHOULD not be

annotated since it’s not visible in the

(FOV) field of view.

Night Scenes
The lidar is only use to add additional information to the camera annotation. So, if it’s
not visible in the camera then don’t annotate it.

Example 1
Note: Annotate only the vehicle that is visible in FOV (Field of View). In this example, only 1 vehicle

should be annotated (RED cuboid) since it’s the only object that is visible in camera view even after

adjusting the brightness and contrast tool.

Zero Visibility
If the car has zero visibility because of heavy fog then do not annotate it.

No Visibility, No Annotation!

Objects Inside A Building/An Open Area

Objects inside a building (closed doors) should not be annotated.

However, if the object is in an open area inside a building then it should be annotated.
Open Trunk
Car extremities should be included in the cuboid and that includes an open trunk.

Note: The cuboid size doesn’t matter as long as it covers all the points of the car including the open

trunk.

Cranes
Cranes should be excluded in the cuboid. Only the vehicle should be annotated.

Other objects with wheels

Garbage Bins, push carts and laundry hampers with wheels should not be annotated.

Bicycles, Motorcycles and Scooters

Bicycle racks with lots of bikes should be annotated with a single cuboid only. (May
include the scooters or motorcycles in the cuboid as long as it’s parking/not on ego
road) and it should be labeled as “VULNERABLE VEHICLE”

Bicycles, Motorcycles and Scooters (More Examples)

Note: Directional heading is not strict as long as it
covers all the lidar points of the bicycles/motorcycles
and scooters.
Again, motorcycles, bicycles or scooters can be cuboid in 1 single box.

Cars In A Parking Lot

Cars in a parking lot should be covered with one cuboid only and it should be labeled
as “VEHICLE”
However, cars that are parked in the street sides (street parking) should be annotated
individually.

ars In A Parking Lot (More Examples)

Hint: Parking lots are usually in front of Malls, Stores
or Coffee shops. etc.
Diagonal Parking Spots
Vehicles parked in the Diagonal parking spots
adjacent to ego’s drivable lane should be “annotated and
labeled individually” .

Annotate each cars and label it as “VEHICLE”

Herds Of Farm Animals

Animals in the farm should be cuboid with one single box only.