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    Comet Cuboid PDF

    Uploaded by

    Aivan Dredd Punzalan
    The document provides instructions for annotating vehicles with 2D cuboids. Key points include: - Draw cuboids for vehicles with 3 or more wheels that are at least 30% visible. - The filled area of the cuboid should align with the closest side of the vehicle, usually the front or rear. - Do not annotate vehicles that are more than 30% occluded or on the other side of a road divider if less than 50% visible. - Long articulated vehicles like trucks and buses should be annotated with a single cuboid. - Provide labels for the vehicle class, pose, and any attributes. Examples of incorrect annotations are also shown.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Comet Cuboid PDF

    Uploaded by

    Aivan Dredd Punzalan
    144 views18 pages
    The document provides instructions for annotating vehicles with 2D cuboids. Key points include: - Draw cuboids for vehicles with 3 or more wheels that are at least 30% visible. - The filled area of the cuboid should align with the closest side of the vehicle, usually the front or rear. - Do not annotate vehicles that are more than 30% occluded or on the other side of a road divider if less than 50% visible. - Long articulated vehicles like trucks and buses should be annotated with a single cuboid. - Provide labels for the vehicle class, pose, and any attributes. Examples of incorrect annotations are also shown.

    Original Title

    COMET CUBOID.pdf

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    The document provides instructions for annotating vehicles with 2D cuboids. Key points include: - Draw cuboids for vehicles with 3 or more wheels that are at least 30% visible. - The filled area of the cuboid should align with the closest side of the vehicle, usually the front or rear. - Do not annotate vehicles that are more than 30% occluded or on the other side of a road divider if less than 50% visible. - Long articulated vehicles like trucks and buses should be annotated with a single cuboid. - Provide labels for the vehicle class, pose, and any attributes. Examples of incorrect annotations are also shown.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    144 views18 pages

    Comet Cuboid PDF

    Uploaded by

    Aivan Dredd Punzalan
    The document provides instructions for annotating vehicles with 2D cuboids. Key points include: - Draw cuboids for vehicles with 3 or more wheels that are at least 30% visible. - The filled area of the cuboid should align with the closest side of the vehicle, usually the front or rear. - Do not annotate vehicles that are more than 30% occluded or on the other side of a road divider if less than 50% visible. - Long articulated vehicles like trucks and buses should be annotated with a single cuboid. - Provide labels for the vehicle class, pose, and any attributes. Examples of incorrect annotations are also shown.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 18

    2D Cuboid Annotation Instructions

    INSTRUCTIONS
    Version Number 1.1

    ● Changes to Cuboid Drawing Here

    ● Do not label objects that are more than 30% occluded


    ●

    Summary of task

    ● Draw 2d cuboids for all vehicles with 3 or more wheels as described below that have a motor

    Alerts/Special Rules

    ● *Alert*: The filled in box should align with the rear or front of the vehicle only, unless the side of the car is all you
    can see (example)
    ○ If an object is truncated and you cannot see the rear, do not use the filled in box to annotate the side (example)
    ● *Alert*: If a vehicle is less than 50% visible on the other side of a road divider, do not annotate it (example)
    ● *Alert*: Do not annotate cars on car carriers individually (example)
    ● *Alert*: Annotate long articulated vehicles with one cuboid (example)
    ● Common Error Guide: https://docs.google.com/document/d/16Oc8-
    zzUJAbT52nxKa32UXW4tZKDY7EY1uyhCi_K_uI/edit?usp=sharing

    Taxonomy:
    Class Class Attribute
    Vehicle Pose

    Follow these guidelines:


    Rule Example
    Minimum boxing size:
    ● 30 x 30 pixels annotate
    ●

    Minimum Visibility:
    ● Annotate any vehicles if more than 30% visible
    ●
    ● Label all nearby vehicles regardless of visibility
    (nearby = ~30 feet from ego vehicle)

    ● Do not annotate vehicles on the other side of a


    road divider if less than 50% visible (example)

    Vehicle extremities: Do not include side view mirrors


    or antennas when shaping the cuboid
    Occlusion: Only annotate the visible part of the
    object. Do not estimate the occluded area

    Long Articulated Vehicles:


    An articulated vehicle is a long vehicle with a pivot
    point - this includes semi trucks with trailers and bendy
    buses.
    Annotate Long Articulated Vehicles with one single
    cuboid
    Cuboid shape: First draw the colored box to cover the
    closest side of the vehicle. Then extend the cuboid
    side edges to cover the vehicle. Adjust cuboid angle to
    reduce the amount of non-car area in the cuboid

    ^Correct. Colored side covers exactly the closest side of the


    vehicle and cuboid sides are projected.

    ^Incorrect. Colored side covers more than the closest side of the
    vehicle and cuboid sides are not projected.
    ^INcorrect. Too much empty space in front of the car

    ^Correct. Cuboid excludes as much excess area as possible

    Cuboid tightness: There should be no more than 3


    px of space between the border and the closest point
    on the object.
    ^ The above orange box touches the vehicle (there is 0 px of space
    between the box and contact point on the vehicle). You can include
    up to 3 pixels of background.
    Blurry objects: If an image has a blurred outline, then
    it is acceptable to clip the edge of the blur by 1-2 px. In
    all other cases clipping any part of an object is
    unacceptable.

    Occluded objects: If an object is occluded (partially


    hidden by other objects), only box the visible portion.
    ● Annotate any vehicles if more than 30% visible

    When deciding pose, label it as if the vehicle wasn’t


    occluded

    Truncated objects:
    If an object is truncated (cut off at the edge of the
    image), keep the box tight around the visible part of
    the object.
    The box should end at exactly the edge of the image
    for truncated objects. Do not box objects that are
    truncated 80% or more. Unless they are less than 30
    feet away from the ego vehicle
    Truncated object will always be rear left/right or
    front left/right
    Glass/reflections:
    Do not box reflections

    Labels

    LABELS DEFINITION EXAMPLES


    Vehicle Any vehicle with 4 or more wheels

    This includes sedans, coupes, SUVs, vans,


    pickup trucks, and trucks.

    Class Attributes
    Pose Term Example

    The part of the object that is closest Front


    to the SDC

    When a car is occluded, decide the


    pose as if the vehicle wasn’t
    occluded

    When deciding a pose, imagine you


    tied a string to the vehicle, and
    choose whatever side is closest to Front Left
    the FRONT of the ego vehicle.

    Truncated vehicles are the


    exception to this rule. Their pose is
    determined by their truncated side.

    Side Left

    Rear Left

    Rear

    Rear Right
    Side Right

    Front Right
    Examples of Correct vs. Incorrect Annotation for Common Errors

    The filled in area of the cuboid should be aligned with the rear, not the side
    CORRECT INCORRECT
    The filled in part of the cuboid is correctly lined up with the rear of The filled in part of the cuboid is incorrectly lined up with the side of
    the vehicle. the vehicle.

    If an object is truncated, do not use the colored area to annotate the side of the vehicle
    CORRECT INCORRECT

    The filled in part of the cuboid isn’t used because the rear of the The filled in part of the cuboid is incorrectly lined up with the side of
    vehicle isn’t visible. Make the width of the face = 0 this truncated vehicle.

    If an object is truncated on 2 or more sides, use the white/gray area to extend your cuboid so your cuboid can be tight and
    parallel with the vehicle
    CORRECT INCORRECT
    The filled in part of the cuboid is not parallel to the vehicle on all
    sides

    The cuboid is parallel with the vehicle on all sides. Keep the colored
    face width at 0

    CORRECT (Below)
    INCORRECT (Below)

    Special Situations

    Do not annotate cars on car carriers individually


    CORRECT INCORRECT
    Annotate the truck, trailer, and cars being towed with one cuboid Do not annotate the cars being carried individually

    The colored part of the cuboid should not be on the side of the car
    if the car is truncated. A truncated car is always front or rear, never
    side

    Detailed Update/Change History


    ● 6/11/2019, Version 1
    ○ Version 1 Completed
    ● 7/2/2019, Version 1.1
    ○ Added new example images, and incorrect annotations
    ○ Updated the instructions and rules with new feedback

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