Introduction To Lidar Task

Table of Contents:
Course Intro
 Introduction
 What is LiDAR
Section 1
 Video (3:40 minutes)

 8 Concept Quizzes
Section 2

Section 3

Section 4
 Video (2 minutes)
Section 5
 Video (7 minutes)
Section 6
 Instructions on Echo
*Video (4 minutes)
Section 7

What is LiDAR?
LiDAR (light detection and ranging) is a technology used by many self-driving cars to sense their surroundings. In LiDAR annotation
tasks, you will navigate around a 3D scene that was recorded by a car with a LiDAR sensor.
Your job is to make sense of the light points in the scene and identify groups of light points as people, cars, trees, and more.
How do I move to the left?

Ans. A KEY
How do I rotate my view (turn side to side)?

ANS. Left or Right Arrow Keys
How do I go from full-screen LiDAR to full-screen camera images?
Ans. Press c key /click on a thumbnail image of the camera view\
Before we create a cuboid for an object, where do we want the top/front of the object to face?
Ans. Top of my screen
How do we make a new cuboid?

Ans. Click the mouse and then drag & drop over the object
What is the first thing we have to do after making a new cuboid?

Ans. Select label
How can we adjust the placement of a cuboid?

Ans. Use ASDW KEYS / Drag & Drop with Cursor/mouse / Use SHIFT With ASDW KEYS
How do we make small adjustments to the directional heading of a cuboid to make sure it is correctly
aligned with the object?
Ans. A. drag and drop the heading in the overhead lidar view in the cuboid detail panel
B. Use the rotate 90deg. Or rotate 180 deg. Buttons under the LiDAR views ion the cuboid detail panel
c. Press the left or right arrow keys
With a cuboid selected so the cuboid detail panel is open, which LiDAR View should we check to
make sure a cuboid is sized and placed correctly?
Ans. Back , side and overhead view
Welcome to Basic LiDAR training Section 2

Section 2 - Agenda:
Learn about Directional Headings, why they are important, how to check them, and how to make sure yours are
always correct!
Which way on an object should the directional heading face?

Ans. Front
Before we draw a cuboid around an object, where do we want the top/front of the object to face to
make sure the directional heading is correct?
Ans. Top of My Screen
How can we tell the directional heading of a cuboid while in full-screen LiDAR view, without using any
shortcuts?
Ans. Check which side of the cuboid is shaded in / click on a cuboid to open the cuboid detail panel & check close-up
LiDAR views
Which shortcut can we use to make the directional heading of a cuboid more obvious while in the
LiDAR view?
Ans. Press T key
How do we make small adjustments to the directional heading of a cuboid to make sure it is correctly
aligned with the object?
Ans. Left and Right Arrow keys

Section 3 - Agenda:
Learn about "All Points or “Aggregated Point Cloud”, which we call APC, and how to use to find and annotate
stationary objects in certain task types!
What does APC stand for?

Aggregated Point Cloud
Does every task type use APC?

Ans. No
What do we use APC for?

Ans. *finding stationar objects * finding dynamic tracks/moving objects * correctly sizing and placing cuboids for
stationary objects
What do we call it when APC is turned up to the highest possible setting?

Ans. Dense APC / Max APC
Which keyboard shortcut do we use to turn on APC?

Ans. P Key

Section 4 - Agenda:
Learn about “All Points” or “Aggregated Point Cloud”, which we call APC, how to use it to find moving objects, as
well as how not to use it!
Do we use APC while annotating dynamic tracks?

Ans. No
How can we use APC to help with dynamic tracks?

Ans. * finding dynamic tracks * checking if we have fully completed dynamic tracks
Does every task type use APC?

Ans. No
If I find a missing dynamic track while in APC, what is the next step I take to annotate it?
Ans. Turn off APC and use the – and + keys to find the object in a single frame
Which keyboard shortcut do we use to turn on/off APC?
Ans. P key

Section 5 - Agenda:
Learn the basics of Interpolation and how we use it to quickly and accurately annotate moving object pathways!
How can I switch between LiDAR view to Camera View?

Ans. * c key * click on a thumbnail camera image * select a cuboid and click on the image view
Where should I draw cuboid to make the first keyframe for an object?
Ans. Always start annotating in the best frame which has the most / clearest lidar point
What is the FIRST thing we do after drawing a cuboid?

Ans. Select a label

Section 6 - Agenda:
Learn about how to identify echo points within LiDAR tasks as well as teach you how to properly annotate echo
points.
What is Echo in LiDAR?

At this point you should be familiar with how LiDAR points for a car should look like. As a refresher you can refer to
the following photo:

As
you can see the LiDAR points that represent the object (in this case a Car) is contained with the cuboid. This is
typically how most objects look when annotated (from back view).
The next photo, however, is another Car that has echo. As you can see on the left hand side of the cuboid there are
a blur of points that mimic the real object that is located more towards the right side of the cuboid. The blur/mimic
points is what is known as echo.
The photo below boxes the echo points in blue and the real car in green.
Depending on the type of task you’re working on the rules for echo differ, in the second photo example the echo is
included in the cuboid, but that is not always the case. Regardless, you must know how to identify whether points
are echo or apart of the real object.

You saw an example of echo that is occurring on the side of a car in the previous section, however, echo can
happen to any area of an object! So below is an example of echo occurring to the front/back of a car.
As you can see from the photo there seems to have a duplicate car of the same shape placed in front of the real
cuboid. The blue lines indicate which of the points in front of the car are fake.
What to do when you find echo points?

Many times when you are annotating a task you will experience objects that have echo and will not always know what to do.
When you run into these you should:
1. Check the instructions to see if there are specific rules regarding echo points
2. If the instructions do not give any details about what to do with echo you should consult the Standard Sizing Document
3. If both the above options do not indicate whether the task allows echo or not please contact your local admin!
Once you understand what to do with the object(s) that have echo you can annotate them correctly! The below video gives a
brief explanation of echo and lists the two common methods of what to do when you run into an object with echo.
Echo occurs when...

Ans. When lidar data is not being interpreted properly
What should you do when you see echo points?

Ans. See what the task types rules for echo is
Section 7 - Agenda:
Learn about the Bottom-Z (placement of bottom cuboid), also called Bottom-Z-Coordinate or Bottom-Z-Index, when
we use it and how to use it!
Is Bottom-Z very important in every task type?

Ans. No, its depends on the task type

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Table of Contents:

 Video (3:40 minutes)

 Video (2:37 minutes)

 Video (3:18 minutes)

 Video (5:19 minutes)

How do I move to the left?

How do I rotate my view (turn side to side)?

How do we make a new cuboid?

What is the first thing we have to do after making a new cuboid?

How can we adjust the placement of a cuboid?

c. Press the left or right arrow keys

Welcome to Basic LiDAR training Section 2

Which way on an object should the directional heading face?

Welcome to Basic LiDAR training Section 3

stationary objects in certain task types!

What does APC stand for?

Does every task type use APC?

What do we use APC for?

What do we call it when APC is turned up to the highest possible setting?

Which keyboard shortcut do we use to turn on APC?

Welcome to Basic LiDAR training Section 4

well as how not to use it!

Do we use APC while annotating dynamic tracks?

How can we use APC to help with dynamic tracks?

Does every task type use APC?

Welcome to Basic LiDAR training Section 5

How can I switch between LiDAR view to Camera View?

What is the FIRST thing we do after drawing a cuboid?

Welcome to Basic LiDAR training Section 6

What is Echo in LiDAR?

the following photo:

are echo or apart of the real object.

What to do when you find echo points?

When you run into these you should:

Echo occurs when...

What should you do when you see echo points?

we use it and how to use it!

Is Bottom-Z very important in every task type?

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