Pointcloud Segmentation Instructions
User Manual:
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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.
