General Rules and Instructions for Jackrabbit LiDAR

Partial VRU
To ensure accurate annotation, it is crucial to follow the specific rules for Jackrabbit LiDAR Partial

VRU as per the instructions. Here are the important basic rules to be followed:

1. Vehicles Annotation: Annotate all vehicles that possess at least one LiDAR or radar
point, ensuring reasonable determination of their location and shape. Exercise your judgment to

accurately size, position, and orient them.

2. Accuracy of LiDAR View: Objects should be faithfully represented in the LiDAR view.
In most cases, confirm that the cuboid encompasses all LiDAR points associated with the object.

3. Priority given to LiDAR View: Correct annotation in the LiDAR view takes
precedence over appearing accurate in the camera view.

4. Consider Discrepancies in Camera View: Remember that the camera view

may exhibit distortion while the LiDAR view remains reliable.

5. Primary Source: Rely on LIDAR point clouds as the main reference for annotation. Utilize
CAMERA images to aid in determining the object.

6. Use of Camera Images: When objects have few LIDAR points, consult camera images
to ensure accurate sizing of the bounding boxes.

7. Consistent Object IDs: Maintain consistent object IDs throughout the task. If an object
disappears and reappears, continue annotation using the same cuboid rather than creating a new

one.

8. Uncertain Object Continuity: If uncertain about whether it is the same object (e.g.,
occlusion with a group of birds, a vehicle disappearing and reappearing), exercise your judgment and

try to assign the appropriate object ID. If impossible, using an alternative object ID is acceptable.
9. Compact Cuboid Size: Ensure the cuboid tightly fits around the object. The cuboid
should closely align with the object's edges without excluding any LiDAR points.

10. Stationary Cuboids: Do not label any cuboid as "STATIONARY." This option is not
enabled for this project.

11. Tag Attributes: All tags, except FREESPACE, come with associated attributes. Fill in the
attributes for each object in every frame.

12. Detailed Instructions: The Jackrabbit LiDAR instructions contain comprehensive

information. Most of the material covered in this course is included in those instructions.

13. Human Children ( general instruction )

14. This category is for human children that are under the age of 12. Age is determined by their

height and interaction with the adult. They are usually held by someone in their arms, on their

shoulders, carried on the front or back of an adult human’s body, holding hands, or in a

stroller. They sometimes are on their own. They are usually much smaller than a regular

adult human.

15. human children in this category are defined as being less than 1.5 meters tall.

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17. Please note that annotation instructions for project batches may change based on customer

requests. Always refer to the To-Do List after receiving a task in the queue for the most up-

to-date instructions.

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20. Human Guidelines:

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34. Adult Human ( general instruction )
35. This category is for anyone who is not a Construction Worker or Authority Figure.

They might wear a uniform, but they don’t have the power to stop traffic. Examples include

delivery people and people wearing vests on the sidewalk.

36. Please note that annotation instructions for project batches may change based on customer

requests. Always refer to the To-Do List after receiving a task in the queue for the most up-to-

date instructions.

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Animal Batches ( general instruction )
Animals (e.g. mammals and birds), a wide range of animal species, not including humans.

Please note that annotation instructions for project batches may change based on customer

requests. Always refer to the To-Do List after receiving a task in the queue for the most up-to-date

instructions.

Animal Guidelines:
Personal Vehicle Batches ( general instruction )
A small motored or non-motored vehicle on which humans can travel, including strollers,

skateboards, roller skates, cleaning machines, motorcycles, trikes, Vespas, Segways, wheelchairs,

and similar modes of transportation. These vehicles may or may not have a rider.

Please note that construction vehicles, emergency personnel vehicles (such as firetrucks,

ambulances, and police vehicles), as well as regular vehicles like cars and trucks, should be

excluded from annotation.

Please note that annotation instructions for project batches may change based on customer

requests. Always refer to the To-Do List after receiving a task in the queue for the most up-to-date

instructions.

Personal Vehicle Guidelines:

 Freespace Label
 Freespaces are areas of the sidewalk or drivable surface with nothing occupying their space.

 Freespace should be annotated near the objects of interest. I.e., near the human child, human, PV

that is annotated in the scene.

Importance: Freespace labels are mandatory and must be annotated in every task within all

Jackrabbit partial VRU (Vulnerable Road User) batches.

Freespace Guidelines:
BackContinue
Common Errors
This error is frequently observed in the task, and it’s essential to be mindful of it to prevent its

recurrence in the future.

Incorrect Attributes
The Personal Vehicle was completely hidden from view, yet its attributes were indicated to be 76-

100% visible.
Based on the image, the Personal Vehicle is a bicycle without a motor, but it was incorrectly labeled

as "with motor."

The Personal Vehicle with a motor was mistakenly labeled as having no motor.
Accurate Annotation and Proper Setting of Attributes
here are some examples of incorrect and correct annotations.

To handle Missing Objects, use camera and LiDAR views as references. Annotate all valid objects

required for the task according to the instructions in the batch type.
As long as an object has at least 1 LiDAR point, its distance becomes irrelevant, and it qualifies as a

valid annotation.
Animal Batch

For humans holding a leash, the cuboid sizing should be set to the maximum distance of the leash.

Cuboid Sizing
 Annotation workflow:

1. Scan the scene.

2. Assess and identify the objects to annotate quickly.

3. Start annotating from the nearest side of the SDC. Begin with frame 1 and annotate everything up to

the last frame. Do not proceed to the next frame(s) until you are confident that everything is identified

and will be annotated. Repeat this method for the other side and into the middle.

4. Review and attribute if everything is annotated. This is a good practice to re-evaluate your

annotations and ensure that no objects are missed. Although time-consuming, it is efficient,

especially for beginners or cautious individuals.

5. Attribute right after annotating each object. This speeds up the process and keeps you focused on

the area. However, it is important to double-check your work. Always review all available cameras for

each frame the object is present and confirm if the DAPC (Data Acquisition Point Cloud) is accurate.

6. Annotate everything in the Drivable space first. By focusing on the road at the beginning, ensure that

any objects that may pose a hazard to vehicles or the SDC are identified and labeled as part of the

Other label group. It is critical not to miss this step.

7. Include at least 3-5 cuboids of Freespaces per frame.

Other workflow instructions:

1. Regularly sync your work to save everything.

2. Address any linter warnings and do not dismiss them. Always investigate and resolve them.

3. As a reviewer, fix only what are necessary, obvious, and critical errors.

4. Provide constructive feedback or information about mistakes. Consider providing screenshots to help

others learn and improve their work.

5. Submit complete and high-quality output. Avoid having others fix your tasks. Aim for a customer-

ready task at all times.

6. Stay updated with Customer Instructions and Clarifications.