Bee Pitch and Roll Instructions

Version 1.0

For further clari cation about rules & edge case scenarios, visit The Bee
Handbook.

ALERTS & UPDATES

- Thisproject has special annotation rules. Please read the next

section carefully to understand how to annotate this task
correctly.

What is pitch and Pitch: angling cuboids forwards or backwards to align objects' LiDAR
roll points flat on top of surfaces

Roll: angling cuboids left or right to align objects' LiDAR points on top
of surfaces
When to pitch and When any object is located on sloped surfaces like hills on grades,
roll angled vertically or horizontally.

How to pitch and roll You can pitch and roll the cuboid by dragging the heading bar with
(eg. shortcuts / your mouse:
mouse drag)
 You can also use the keyboard shortcuts (ctrl + alt + arrow keys):

or (shift + ctrl + alt + arrow keys) for bigger adjustments:

How to check pitch

and roll (side panel)

LABEL TABLE

Type Class Type Class Type Class

Pedestrian Adult Vehicle Other Other Dynamic Other Dynamic
(Motorized) Object Object
Riding

Child Car Construction Construction

Object Cones and
Poles

Traffic Van Construction

Controller Zone Signs and
Construction
Sign Boards

Specialty Tow Truck Temporary

Construction
Barrier
 Pedestrian Adult Bus Temporary
with Object Fence

Child Bendy Bus Other

Specialty School Bus Static Road Pushable or

Obstacle Pullable

Animal Dogs/Cats Construction Other

Other Mobile Traffic No Label Zone No Label Zone

Control

Vehicle Trailer Other

Wheelchair Emergency Police Vehicle

Other Personal Police

Mobility Motorcycle

Bicycle Other

Motorcycle Railway Railway Vehicle

Vehicle

ATTRIBUTES TABLE

Towing Attribute Rider Attribute Occlusion Turn Signal Lights

Any Lights Brake Lights Reverse Lights Parked

GLOBAL RULES & GUIDELINES

Minimum LiDAR Points & 0-point

rule:

Label all objects that have 1 LiDAR point

anywhere in the scene.

Any object that has 1 LiDAR or RADAR

point at any time in the scene needs to
be annotated the entire time they are in
camera view, even if they have 0 points.
Use interpolation, camera view, and your
best judgment on correct cuboid position
Occlusion

If a cuboid becomes fully occluded

during a frame and becomes visible
again, annotate the object through the
occlusion. Use your best judgment on
correct cuboid position and heading

If you cannot annotate the object due to

high uncertainty (for example very long
occlusions), but can re-identify it later,
start a new cuboid path with the next
frame where the object is visible. Be sure
to merge the two cuboid paths afterward,
using the Merge This Cuboid Path with
Another Path button

Do Not Annotate Re ections

Do NOT annotate any reflections.

Reflections can appear due to building
reflecting points off their windows or
vehicles reflecting points off their
bodies. The objects being reflected are
found between the SDC and the
building, it is useful to use both the
camera view and movement, if any, of
the object in lidar to determine if certain
points are reflection.

The orange line in this example is a window, the reflected

points beyond it should not be annotated.
CUBOID SIZING

DO NOT leave more than .2m of space

between the cuboid and points on object

DO NOT INCLUDE side view mirrors or

antennas

DO NOT INCLUDE echo, or noise

caused by echo

INCLUDE large objects on the back or

on top of the vehicle, like luggage,
lumber, bicycles…

INCLUDE any open doors, trunks, and

hoods in the cuboid

INCLUDE any ramps & lifts on the back

of large trucks in the cuboid

150 Meter Rule

Annotate the entire path of any object

that was within 150m of the ego vehicle
at any point.

If there is an object that was never within

150m of the ego vehicle, do not annotate
it.
Towed objects

Annotate the towing vehicle and the

towed object with separate cuboids.
Annotate each cuboid with their
respective label.

It is fine for the cuboids to overlap.

2 Pedestrians with 1 Object:

If more than one person are carrying a

large object together, divide the object
(approximately) evenly between the
persons.

Example: If two people are carrying a

couch, create two cuboids, each of them
with a pedestrian and half of the couch.
Both cuboids get the label ‘Pedestrian
with object’

Labels Changing Mid-Scene

If an object needs to change labels mid-
scene, create a new cuboid in its path
with the new label, and new sizing, if
necessary.

Example:

If a person is holding a large

object - label them Pedestrian with
Object - Adult.

If they throw that object, start two

new cuboids - one Pedestrian - Adult
and one Other Dynamic Object

Using Visual Changes to

Determine the Label for Attributes

In the example provided to the right,

from frames 1-39 the brake lights of
this vehicle appears to be OFF or
Can’t Tell, but in frame 40 we can see
the brake lights actually turn off
(darken), therefore, we should change
the labels for frames 1-39 to ON from
OFF given this new information.

If there is clear proof that an attribute is

either On or Off after seeing a visible
change in later frames, we set the
attributes accordingly.
Only make these changes if you can
visually confirm the differences.
If Vision for an Attribute Changes
Throughout a Scene Change the
Labels Accordingly

In the example to the right we can see

that the brake lights for this van is ON in
certain frames due to the angle of the
camera, but in other frames it is difficult
to see the brake lights due to the camera
angle and be labeled as Can’t Tell. Once
the angle makes the brake lights difficult
to see and you cannot say with certainty
whether they are ON or OFF you should
label it as Can’t Tell.

Once an attribute becomes difficult to

confirm due to camera angle, glare,
blurriness, etc., you should consider
using the Can’t Tell label.

NO LABEL ZONE (NLZ) RULES & GUIDELINES

No Label Zone (NLZ) Basics

When creating a ‘No Label Zone’, create

one large cuboid to cover the entire area.
DO NOT label any other classes within
the ‘No Label Zone’ unless it is an object
that enters, exits or is waiting to exit a
NLZ (examples)

DO NOT cover gas stations, auto repair

shops (ie. oil changers), and fast food
drive

s with a NLZ; we should always label all

objects in these areas individually

DO NOT annotate house driveways with

a NLZ

NLZ Sizing & Positioning

NLZs can generally be left at the default

height of 2m
NLZs should be as long/wide as
necessary to cover the area.
The NLZ MUST be level with the
ground surface (not floating or sinking)

DO NOT cover any vegetation or

sidewalks with NLZs.

NLZ Parking Lots

The ‘No Label Zone’ should cover all

stationary vehicles, alleys within the
parking lot

If the parking lot has an abnormal shape,

use as many cuboids as necessary to
cover the entire area without going over
buildings, sidewalks, or any other area
that does not represent the zone being
annotated

Annotate all parking lots that the Ego

Vehicle isn’t entering, driving in, or
exiting, with a NLZ

If the Ego Vehicle is driving in, exiting, or

entering a parking lot, ALL objects in the
parking lot need to be annotated.

If there are any other parking lots in the

scene that aren’t connected to the
parking lot the Ego Vehicle is in,
annotate those parking lots with a NLZ

DO NOT annotate parking lots that do

not have any vehicles in them

DO NOT annotate parking lots that are

right next to the street (without driveway
or curb separating them) with a NLZ

DO NOT label vehicles parked along the

road with a NLZ

DO NOT cover cars in very small parking

areas outside or inside of Auto Repair
Shops garages.

Auto Repair Shops with large parking

lots should be covered with NLZs

Objects near NLZs

Annotate any objects on sidewalks,
vegetation, or any other surface outside
of the parking lot NLZ area

Objects entering/exiting NLZs

If an object enters a NLZ, annotate the

entire path of the object (including when
it is inside the NLZ)
If an object exits a NLZ only start
annotating it the moment it is outside of
the NLZ

If an object is waiting to exit a NLZ,

annotate the entire path of the object

Grouped Objects (Crowds)

Use one or more ‘No Label Zone’

cuboids to annotate groups or crowds.

THERE MUST BE 5 or more objects, no

more than 10m radius apart, and further
than 10m from the drivable surface.

When an object exits from a ‘No Label

Zone’ group, then it needs to be
annotated in the affected frames.

Car Dealerships

Use No Label Zones to cover any parked

vehicles - including parked cars at
dealerships

Underpasses:

If the Ego Vehicle is on an overpass

(road that passes over another road that
does not physically join with the
overpassing road), annotate a ‘No Label
Zone’ on the lower roads which pass
under the Ego Vehicle.

DO NOT use a NLZ for vehicles above

the Ego Vehicle
DO NOT use a NLZ for onramps or
offramps to the highway.

LABELS (Click on the label name to view more example images of the label)

Pedestrian - Adult: Human adult or older child (>8

years old) on foot.

INCLUDE arms and legs in the cuboid

INCLUDE any everyday items (backpacks,

cellphones…)
INCLUDES standing, sitting and lying humans.

Pedestrian - Child: Human child (≤8 years old) on

foot.

INCLUDE arms and legs in the cuboid

INCLUDE any everyday items (backpacks,

cellphones…)
INCLUDES standing, sitting and lying humans.
Pedestrian - Traffic Controller: Human Adult or older
child (> 8 years old) on foot, controlling traffic.

INCLUDES traffic police, construction workers

controlling traffic, crossing guard, or any other person
controlling traffic.

MUST INCLUDE signaling device, like batons, flags

and signs.
Pedestrian - Specialty: Police officer, construction
worker, firemen, ambulance personnel, etc.

DOES NOT INCLUDE traffic police, crossing guards or

any other human directing traffic

Pedestrian with Object - Adult: Human adult or older

child (>8 years old) on foot, holding a large object.

INCLUDES babies, large boxes, or open umbrellas;

pushing a bicycle, motorcycle, cart, stroller, knee
scooter, or trash can; pulling a suitcase.

MUST INCLUDE both the adult and the object.

DOES NOT INCLUDE adults carrying normal day-to-
day items (e.g. backpack, tote bag, purse), or pet’s
leash
Pedestrian with Object - Child: Human child on foot
(≤8 years old), holding a large object.

INCLUDES babies, large boxes, or open umbrellas;

pushing a bicycle, motorcycle, cart, stroller, knee
scooter, or trash can; pulling a suitcase.

MUST INCLUDE both the child and the object.

DOES NOT INCLUDE children carrying normal day-to-

day items (e.g. backpack, tote bag, purse), or pet’s
leash

Pedestrian with Object - Specialty: Police officer,

construction worker, firemen, ambulance personnel
holding a large object.

INCLUDES babies, large boxes, or open umbrellas;

pushing a bicycle, motorcycle, cart, stroller, knee
scooter, or trash can; pulling a suitcase.

MUST INCLUDE both the specialty person and the

object.
DOES NOT INCLUDE specialty people carrying
normal day-to-day items (e.g. backpack, tote bag,
purse), or pet’s leash

DOES NOT INCLUDE traffic police, crossing guards or

any other human directing traffic

Animal - Dogs/Cats: Small domestic animals such as

dogs and cats, on foot.

INCLUDES animals on a leash (do not include the leash)

DOES NOT INCLUDE dead animals (roadkill) or animals

being carried.

EXAMPLE: An adult walking a dog would yield two

cuboids, one “Animal - Dogs/Cats” and one “Pedestrian -
Adult”.

Animal - Other: Non-domestic animals of any size on foot.

INCLUDES larger “domesticated” animals such as sheep,

horses, cows and donkeys, birds on foot like ducks, deer,
squirrels, skunks and raccoons
If the animal has a rider (like a horse or donkey), the
cuboid MUST INCLUDE both animal and rider.

DOES NOT INCLUDE dead animals (roadkill) or flying

birds

Vehicle - Trailer: Any object designed to be towed by

another vehicle. Object cannot move under its own
power
INCLUDES boat on trailer, flatbed trailer, cement mixer,
caravan, shipping container on a trailer, trailers of 18-
wheelers, bike trailer

DOES NOT INCLUDE boats, shipping containers etc.

not currently on a trailer. Does not include cars being
towed

EXAMPLE: Trailers with other vehicles on top of them

should be annotated with only single cuboid for both
the trailer and the vehicles atop of it, labeled as
‘Vehicle - Trailer’.

Vehicle - Wheelchair: Wheelchair.

INCLUDES both wheelchair with rider and without

rider.

If the wheelchair has a rider, the cuboid MUST

INCLUDE both the human and the wheelchair.

Vehicle - Other Personal Mobility: Personal mobility

vehicle like a skateboard, Segway, roller blades.

INCLUDES both vehicles with rider and without rider.

If the object has a rider, the cuboid MUST INCLUDE

both the human and the vehicle.

DOES NOT INCLUDE wheelchairs, knee scooters,

bicycles, vespas, sitting scooters, all-terrain vehicles,
trikes, and motorcycles.

Vehicle - Bicycle: Bikes, including tandem and

recumbent bicycles.

INCLUDES both bikes with rider and without rider.

If the bike has a rider, the cuboid MUST INCLUDE both

the human and the bike.

DOES NOT INCLUDE pedestrians pushing bicycles

Vehicle - Motorcycle: Motorcycle.

INCLUDES both motorcycles with rider and without

rider, vespas, and sitting scooters.

If the motorcycle has a rider, the cuboid MUST

INCLUDE both the human and the motorcycle.

DOES NOT INCLUDE all-terrain vehicles, trikes, and

motorcycles with sidecar, or pedestrians pushing
motorcycles

Vehicle - Other (Motorized) Riding: Three or four

wheeled vehicles with the rider outside (on top).

INCLUDES all-terrain vehicles (ATVs), quads, trikes,

motorcycles with sidecar, vehicles with rider and
without rider.

If the vehicle has a rider, the cuboid MUST

INCLUDE both the human and the vehicle.

DOES NOT INCLUDE convertible cars, construction

vehicles, tractors, or any two-wheeled vehicles like
motorcycles without sidecar, vespas, sitting scooters.

Vehicle - Car: Normal sized vehicles, such as cars,

pickup trucks, SUV’s, small passenger minivans, small
flatbed pickup trucks.

INCLUDES cargo on the roof or trunk, open doors,

hoods or trunks.

DO NOT INCLUDE antennas or side-view mirrors

Vehicle - Van: Large passenger vans, moving vans,

delivery vans, news vans.

DOES NOT INCLUDE small passenger minivans.

Vehicle - Truck: Large truck shaped vehicles such as

freight trucks, oil tank trucks, large flatbed trucks, large
delivery trucks, large moving trucks, tractor units,
garbage trucks, cement trucks, RVs.
INCLUDES open lift gates / lifts on the back of the
truck

Note: A good rule to follow for larger/modified pick-up

trucks that can be labeled as trucks instead of cars is if
it’s a lot larger than a regular pickup truck (2.0, 5.0-5.5,
2.0) then label it as truck

Vehicle - Tow Truck: Large vehicle designed to tow

other vehicles, like cars or trucks.

DOES NOT INCLUDE objects being towed by the tow

truck - label these objects separately

Vehicle - Bus: Bus or shuttle designed to transport

large numbers of people.

DOES NOT INCLUDE bendy (articulated) busses or

school busses.
Vehicle - Bendy Bus: ‘Vehicle - Bus’ that is composed
of two or more connected segments.

Each segment of the bendy (articulated) bus MUST BE

ANNOTATED with its own cuboid.

Vehicle - School Bus: ‘Vehicle - Bus’ that transports

children to school. Typically a yellow bus, with flashing
stop signs when dropping off/pickup up children.

Vehicle - Construction: Vehicles primarily designed

for construction. Typically very slow moving or
stationary. Includes cranes, caterpillars, bulldozers,
excavators.

DOES NOT INCLUDE forklifts, powerline utility trucks,

or cement trucks

Vehicle - Mobile Traffic Control: Mobile signs or

boards (including electronic signs) that are meant to
direct traffic. Typically mounted on a trailer or on the
back of a pickup truck.

Cuboid MUST INCLUDE the entire object (sign and

towing hitch if on a trailer).

DOES NOT INCLUDE traffic control signs or boards

that cannot move (i.e., have no wheels).
Vehicle - Other: Unusual vehicles such as forklifts,
tanks, street sweepers, duck boats, golf carts, tuk-tuks.

Emergency - Police Vehicle: Police vehicles. Does

not include police motorcycles.

Emergency - Police Motorcycle: Police officer on a

motorcycle. The cuboid must include both the police
officer and the motorcycle.

Emergency - Other: Non-police emergency vehicle.

Examples include ambulances and firetrucks.
Railway Vehicle: Any vehicle that travels on rails, like
light rail, tram or train. For trains that consist of several
linked units, annotate each segment with a separate
‘Railway Vehicle’ cuboid.

Other Dynamic Object: Any object in motion left on

the driveable surface that is too large to be safely
driven over.

INCLUDES balls rolling on the street, runaway strollers

or shopping carts.

STATIONARY LABELS

Construction Object - Construction Cones and

Poles: Any temporary cone or short temporary pole
(usually orange or striped and used in construction),
placed to redirect traffic.

DOES NOT INCLUDE permanent structures like

bollards

Construction Object - Construction Zone Signs and

Construction Sign Boards: Any construction related
signs or boards (including electronic signs) that are
meant to direct traffic.
Construction Object - Temporary Construction
Barrier: Temporary small walls used to block off
construction zones. Typically plastic, sometimes
concrete, and brightly colored about knee or waist
height.

Construction Object - Temporary Fence: Temporary

walls used to block off construction zones for buildings.
Typically metal or wood and 2-3 meter high.

DO NOT ANNOTATE if the fence is further than 5

meters from the driveable region.

Construction Object - Other: Any other large (larger

than 0.5m high) construction object. Includes stationary
cement mixers, wreckage, generator, wheelbarrow.

Object MUST BE INSIDE the work zone area (marked

by indicators like barrier or cones).

DO NOT ANNOTATE if the objects are not on the

normal drivable region (road work, etc.)

DOES NOT INCLUDE smaller items such as

sandbags, tools.
Static Road Object - Pushable or Pullable: Objects that
can be moved by a pedestrian.

INCLUDES garbage bins with wheels, shopping carts,

wheelbarrows, moving carts.

Object MUST BE larger than .5m high and must currently

be stationary.

DOES NOT INCLUDE garbage bins that do not have

wheels, or any garbage bins that are permanently in the
ground. Object can be on the road, on the sidewalk, or
away from the driveable surface.

Static Road Object - Other: Any object larger than .15m

obstructing the normal drivable region.

INCLUDES dumpsters, dead animals, tree branches,

trash bags, mattresses, ladders, shipping containers not
on a trailer, and temporary objects on driveways.

No Label Zone (NLZ): Large cuboid used to cover

parking lots, grouped objects, and highway
underpasses.

For NLZ rules, please see the No Label Zone Rules &
Guidelines
Note: Occlusion attribute on No Label Zones should
ALWAYS be set to 'Can't Tell'
ATTRIBUTES TABLE

Towing Attribute Rider Attribute Occlusion Turn Signal Lights

Any Lights Brake Lights Reverse Lights Parked

TOWING ATTRIBUTE
For each vehicle, select the attribute "Is the vehicle towing or being towed?"

Being Towed: The vehicle/trailer is being

towed by another vehicle, or you are
reasonably sure that it is being towed (you
can see a moving shipping container)
(More examples / Edge Cases here)

Towing: The vehicle is towing another

vehicle

Neither: The vehicle is not towing, is not

being towed, or you are not certain if it is
being towed or not towed.

RIDER ATTRIBUTE
For animals and vehicles select the attribute "Does the vehicle or animal have a rider?"

With Adult Rider: Vehicle currently has a rider.

Rider is an adult or older child (>8 years old)

With Child Rider: Vehicle currently has a rider.

Rider is a child
Without Rider: Vehicle does not have a rider

OCCLUSION
For ALL OBJECTS, select the attribute "What percent of this object is occluded (blocked by other
objects in camera view)?"

Occlusion is how much the object is blocked from our view in Camera View by other objects (ie. walls,
vegetation, cars, etc.)

If the object is visible in more than one camera view, select the least occluded (lowest %) answer.

If the object is behind glass treat the glass as a wall.

Annotate each frame’s occlusion individually.

Examples

0-20%: Object is not occluded at all, or

slightly occluded

20-40%: Object is slightly - moderately occluded

40-60%: Object is moderately - more than half

occluded
60-80%: Object is more than half - almost completely
occluded

80-100%: Object is very occluded to completely

occluded - not visible in any camera image -

Can’t Tell: Object that cannot be occluded (eg. No

Label Zone) or object is too far away or blurry to
determine the occlusion percentage
DOES NOT INCLUDE objects that aren’t visible due
to being fully occluded (use 80-100% if we cannot see
the object)

TURN SIGNAL LIGHTS

For every vehicle, select the attribute “Which turn signal indicator light is on? (if any)”.

These are from the perspective of the vehicle’s driver

Off - Neither the left or right turn signal is

active
If only one turn signal is visible, and it is
off, mark the object as Off.
Left - The vehicle’s left turn signal is
visible, and is active in this frame
INCLUDES left indicator lights that are
visibly on through windows/glass

Right - The vehicle’s right turn signal is

visible, and is active in this frame
INCLUDES right indicator lights that are
visibly on through windows/glass

Both - Both of the turn signals are visible,

and are active in this frame (ie. hazard
lights)
INCLUDES indicator lights that are visibly
on through windows/glass

Can’t Tell - Use Can’t Tell if...

 - The objects turn signals aren’t
visible in this frame
- The object doesn’t have any turn
signals
- There is any uncertainty whether
the turn signals are on or off (due
to blurriness, distant object, or
glare)
DOES NOT INCLUDE indicator lights that
are visibly On/Off through windows/glass

ANY LIGHTS
For vehicles, objects, animals and pedestrians select the attribute “Are any lights on? (in at least
1 frame)”

Any lights includes all lights of a vehicle or object (tail light, head light, turn signal, or any other light
on the exterior OR interior of the vehicle) and any lights that can be held or found on the body of a
pedestrian or animal (flashlights, cell phones, lights attached to pets, etc.)

If a light is on / visible in one frame, mark as On in ALL frames

On (Yes) - If any lights are on at ANY point in the

task - even for 1 frame
INCLUDES any lights that are visibly on through
windows/glass
Off (No) - If lights are visible and NO lights are on at
any point in the scene

INCLUDES any lights that are visibly off through

windows/glass

Can’t Tell - Use Can’t Tell if...

- The object doesn’t have any lights that can
be turned On/Off (cones/poles, garbage
cans)
- The object’s lights are occluded at every
point during the scene.
- We are uncertain if any lights were
On/Off due to blurriness, distance, glare.
- Any Lights on Pedestrian objects must
always be 'Can't Tell'
BRAKE LIGHTS
For every vehicle, select the attribute “Are the object’s brake lights on?”

On (Yes)- The brake lights are active in

this frame
INCLUDES brake lights that are visibly
on through windows/glass

Off (No) - The brake lights are not active in

this frame
INCLUDES brake lights that are visibly
off through windows/glass

Can’t Tell - Use Can’t Tell if…

- The object doesn’t have brake
lights
- The object’s brake lights aren’t
visible in this frame
- Vehicles which are faced
perpendicular to the camera view
should be labeled as “Can’t Tell”
- We are uncertain whether the
object’s brake lights are On/Off due
to blurriness, angle, glare, or
distance.
REVERSE LIGHTS ATTRIBUTE
For every vehicle, select the attribute “Are the object’s reverse lights on? (in at least 1 frame)”

This is asking whether or not the reverse lights were active AT ANY POINT in the scene.

On (Yes) - The reverse lights were active

at ANY point in the task - even for 1
frame
INCLUDES reverse lights that are visibly
on through windows/glass

Note: If at no point the back of a vehicle

is visible, please do not set Reverse
Lights to 'Off', set it to 'Can't Tell'.

Off (No)- The reverse lights were never on

in this task - not even 1 frame
INCLUDES reverse lights that are visibly
off through windows/glass

Can’t Tell - Use Can’t Tell if...

- The object’s reverse lights aren’t
visible at any point in the scene
- The object doesn’t have reverse
lights
- We are uncertain whether the
reverse lights were On/Off due to
distance, glare, angle, or blurriness.
PARKED ATTRIBUTE
For every vehicle, select the attribute “Is the object parked in every frame?”

A vehicle is parked if stopped or standing still, whether or not the driver is visible, and does not have
the intention to start moving again FOR ALL frames it is visible.

If a vehicle is parked for 79 frames, but begins to move in frame 80, mark Parked as No.

Yes - The object was parked in ALL of the

frames of the task
INCLUDES cars stopped on the side of the
freeway with or without hazard lights on
INCLUDES cars parked in driveways, cars
against the curb, or in a parking lot the
SDC is in.
No - The object was not parked in EVERY
FRAME during the scene or if the object is
parked in some frames, but begins to move
later on
INCLUDES Any cars stopped with the
intention to move again, (ie. cars stopped
at a stoplight or intersection, brake lights
on), their Parked attribute should be set
to 'No'.
INCLUDES cars waiting to go through a toll
booth

INCLUDES cars that are stopped by traffic

controllers

INCLUDES cars that are pulled over to make

way for emergency vehicles

INCLUDES cars that are stopped while

loading / unloading passengers or goods
 Can’t Tell - Object is too far away to tell
what the parked status is.

LABEL EXAMPLES (click the label to return to the label de nition)

Pedestrian - Adult:
Pedestrian - Child:

Pedestrian - Tra c Controller:

Pedestrian - Specialty:
Pedestrian with Object - Adult:
Pedestrian with Object - Child:
Pedestrian with Object - Specialty:
Animal - Dogs/Cats:
Animal - Other:
Vehicle - Trailer:
Vehicle - Wheelchair:
Vehicle - Other Personal Mobility:
Vehicle - Bicycle:
Vehicle - Motorcycle:
Vehicle - Other (Motorized) Riding:
Vehicle - Car:
Vehicle - Van:
Vehicle - Truck:

Vehicle - Tow Truck:

Vehicle - Bus:

Vehicle - Bendy Bus:

Vehicle - School Bus:
Vehicle - Construction:
Vehicle - Mobile Tra c Control:
Vehicle - Other:

Emergency - Police Vehicle:

Emergency - Police Motorcycle:
Emergency - Other:
Railway Vehicle:
Other Dynamic Object:

Construction Object - Construction Cones and Poles:

Construction Object - Construction Zone Signs and Construction Sign Boards:
Construction Object - Temporary Construction Barrier:
Construction Object - Temporary Fence:
Construction Object - Other:
›Static Road Object - Pushable or Pullable:

Static Road Object - Other:

 

No label Zone (grouped objects)

No Label Zone (parking lot separate from SDC):

No Label Zone (SDC on Overpass):

Annotate all other objects not in no label zone (ex. cars on on and off-ramps)

ATTRIBUTES EXAMPLES (click the attribute to return to the attribute

de nition)
Occlusion
0-20%: Object is completely visible, or slightly occluded

20-40%: Object is slightly - moderately occluded

40-60%: Object is moderately - more than half occluded

60-80%: Object is more than half - almost completely occluded

80-100%: Object is almost occluded - not visible in any camera image

Can't Tell: Object is a 'No Label Zone' or the Object is Too Far Away
Split Occlusion: Add up the surface area of the poles/fences (The amount of space that
the poles/fences cover) and treat that value as you would normally for occlusion.

An acceptable guess would be 0-20% OR 20-40% occlusion.