Bee “Attribute” Lidarlinking Video

Instructions V.1.2

Instructions:
● Do ​not​ adjust the dimensions and positions of the existing automatically
generated annotations​. These will typically be close in distance to the object. Please
do not move these boxes or adjust the sizing of the boxes.
● Do not delete or add boxes.
● Do not manipulates, change, adjust, move, delete , add or remove boxes.

General Tips & Guidelines

● For objects going over the edge of the image, the occlusion is still 0% unless the object
is blocked by another object.
● Only set the “indicator status”attribute to BOTH when the hazard lights are flashing.

Occlusion
Occlusion Examples

Incorrect Example Correct Example

INDICATOR STATUS​:
● For each vehicle with dedicated signaling or emergency lights, select from following
attributes to indicate whether the object is using active signaling (i.e. sirens , flashing
lights).
●

Indicator Attribute Examples

INDICATOR LIGHT INCORRECT CORRECT

ATTRIBUTE

Off

CORRECT​ value is set to

OFF, because neither
left/right turn signal is blinking

SHINY REAR LIGHTS ​are

OFF. Be careful not to
mistake for being ON.

Left

Only use LEFT when left turn

Don’t mistake a ​shiny
surface​ for a turn signal that
is on.
signal is on and visibly
blinking. Make sure it this
value is set to LEFT from the
first frame where the blinking
starts until the last frame
where the blinking ends.
 The above example should
be ​LEFT ​because this light is
on the​ driver’s left​ (​note it is
on your right​).

Right

Only use ​RIGHT​ when left

Don’t mistake a shiny surface
for a turn signal that is on
turn signal is on and visibly
blinking. Make sure it this
value is set to ​RIGHT​ from
the first frame where the
blinking starts until the last
frame where the blinking
ends.

The above example should

be ​RIGHT ​because this light
is on the​ driver’s right ​(n​ ote
it is on your left​).

BOTH
 BOTH​ value is incorrect here
because the vehicle is
stopping and these are just
brake lights.
BOTH ​value is correct when
car hazard lights are on.
These flash on and off back
and forth and don’t just stay
on -- generally signal the car
is moving slowly or needs
help. If you see hazard lights
set indicator attribute to be
BOTH from the first frame
where the lights to blink until
the last frame where the
blinking stops.

OBJECT OCCLUSION %:​ For each object, annotate the % that the object is occluded by any
other object or vehicle. Note this is not the same as truncation (which is the object being cut off
by the edge of an image):

Attribute Examples

0-20% Occluded

Truck is 0-20% occluded. [About 10% in this

case]
 Car is 0-20% occluded. [Not occluded at all]

20-40% Occluded

40-60% Occluded

60-80% Occluded

80-100% : The vehicle is almost fully

occluded.
Change History

2019/1/17: v1
● Added images for each label/example
● Overview of attributes with image examples
2019/2/15 v1.1
● New image examples
● Box sizing guidelines
2019/03/06
● Removed box adjustment and boxing from instructions
● Removed Human Attributes, Object/Vehicle Motion Attributes, Animals/Vehicles with
Outside Rider Subjection