Pointcloud Segmentation Instructions
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PANDASET LiDAR SEGMENTATION INSTRUCTIONS Instructions ● ● Please label all points in the LiDAR scene with one of the labels listed below ○ Do NOT label any points where you cannot tell what the object/class is within 90% confidence OR it is less than 5 LiDAR points. Long Articulated Vehicles: ■ Objects that are being towed by a car (e.g. boat, trailer, etc.) should be annotated separately as “Vehicles” using a separate label from the towing vehicle ■ An articulated vehicle is one where there is a pivot joint between sections, which means that the two sections could turn in such a way that they are no longer facing the exact same direction ■ Use a separate “Vehicle” label for each section of a long articulated vehicle (e.g. multi car trains, semi-trailer truck, etc.) Semantic Labels LABELS DEFINITION EXAMPLE Smoke By-product of fire or other burning materials, as well as fumes from manhole covers. This does not include car exhaust. Exhaust Fumes or vapor coming out of a vehicle’s exhaust. Vegetation Plants, bushes, shrubbery, trees, or other green features. Road The drivable surface of the ground where vehicles can legally drive or park on. Lane Line Marking Painted markings on the road to designate lanes for vehicles or bicyclists. Stop Line Marking Painted marking on the road to designate where vehicles should come to a stop, typically at stop signs or traffic signals. Other Road Marking Other painted markings on the road used to help direct and inform traffic. Typically these are words or symbols.This also includes crosswalks. Sidewalk Paved surface designated for pedestrian use. Driveway Paved area typically in front of houses between the garage and the sidewalk or road. Car Sedans, coupes, SUVs. Pickup Truck Pickup trucks. Medium-sized Trucks Delivery vans, flatbed trucks or other trucks larger than a pickup truck and smaller than a semi-truck. Semi-truck A six-wheeled trailer. When towing a trailer - label the trailer separately as a towed object. Towed Object Any object being towed by a vehicle - e.g. a boat, trailer, semi-trailer other vehicle. Motorcycle A motorcycle (two or three wheeled motor vehicle) with a rider or parked Other Vehicle Construction Vehicle A vehicle used for construction, e.g. an excavator, bulldozer, dump-truck. Does not include pickup trucks in a construction site. Other Vehicle Uncommon Any rare or unusual motorized vehicles that aren’t covered by the other existing labels. This includes uncommon vehicles like meter-maids, tuk tuks, or street-sweepers Other Vehicle - Pedicab A human-powered three wheel vehicle. Emergency Vehicle An emergency response vehicle such as ambulance, police car or fire truck. Bus Any bus; must have more than 3 axles Vans with 2 axles should be included in vehicle label. Personal Mobility Device Any two or three wheeled non-motorized device that can be ridden by a person. This includes scooters, strollers, wheelchairs. Annotate the person riding the device and the device under one label. Motorized Scooter Motorized scooter. Bicycle A two-wheeled vehicle powered by a person, with a rider or parked. Train Includes ONLY large train engines or cars attached to a large train. Trolley A trolley car - open air sides, operating on a city street. Tram / Subway A single car or small vehicle traveling on rails through a city street or on a raised track. Pedestrian A person on foot, sitting or lying down. Ensure that all points corresponding to the person are colored in all frames. Pedestrian arms / legs can swing, requiring the coloring of the points to be adjusted. When a pedestrian is holding an object - e.g. a bag or a backpack - use the ‘Pedestrian with Object’ label. Pedestrian with Object A pedestrian holding an object, or carrying an object (e.g. a backpack or umbrella). Label the objects to include the pedestrian and the object. If the pedestrian is carrying an open umbrella - include the open umbrella with the pedestrian. When a pedestrian is pushing a ‘Personal Mobility Device’, label both objects under one ‘Pedestrian with Object’ label. Animals - Bird A bird, on the ground of in the air. Animals - Other Any other animal visible in the point cloud. Pylons Permanent short poles used for traffic guidance. These are fixed to the road. Use the image to confirm the class. Road Barriers Permanent barriers in the road, used for traffic guidance. Use the image to confirm the class. Signs Permanent signs used for traffic guidance; include the pole supporting the sign. Use the image to confirm the class. Cones Non-permanent cone or short pole used for traffic guidance. Use the image to confirm the class. Construction Signs Non-permanent sign in or near the road, used for traffic guidance. Use the image to confirm the class. Temporary Construction Barriers Non-permanent barriers in the road, used for traffic guidance. Use the image to confirm the class. Rolling Containers Garbage cans on wheels, dumpsters or other containers that can move in or out of the road or sidewalk.
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