Group Label

समूह लेबल

Attributes गुण

Value कीमत

Light Source Objects

प्रकाश स्रोत वस्तुएँ

Vehicle Type

वाहन का प्रकार

• Car
• Transporter
• Truck
• Bus
• TrainTram
• Motorcycle
• BicycleEscooter
• Trailer
• Inconclusive
• InconclusiveCluster
• Uncertain
• Other

Light Source Object (LSO) Direction

प्रकाश स्रोत वस्तु (एलएसओ) दिशा

• Oncoming
• Proceeding
• Crossing
• Uncertain

Rule नियम

Description

विवरण

Example उदाहरण

When should you annotate an LSO?

Annotate all fully or partially visible LSOs which have either:

1. Visible and active light sources in the current frame;

or

2. No visible light sources in the current frame (e.g., due to occlusion by roadway divider, or the LSO leaving the frame)

Frame 1: Two LSOs labeled.

Frame 2: LSO on the left starts to be occluded.

Frame 3: LSO is completely occluded

.

Incorrect response for Frame 3:

LSO is labeled even if it is completely occluded in one frame.

Correct response for Frame 3:

LSO is not labeled because it is completely occluded in this frame.

Frame annotation

Annotate the light sources in every frame of the task. Tasks usually have 450 frames.

Note: Make sure to annotate the light sources that appear in multiple frames with the same object ID.

Bounding Box annotation

It is important that the bounding box is drawn to enclose as much of the LSO in question as possible, while avoiding as many other light sources that are not attached to the LSO

Bounding Box IDs

If an object can be seen in multiple frames, each bounding box surrounding the object should have the same ID across all frames.

VehicleType attribute should be constant throughout the entire sequence.

When a bounding box is created to label a LSO, the VehicleType attribute should remain the same throughout the entire sequence.

If there is the need to change that attribute, a new annotation must be made.

Example

Observations

The example image contains a few different vehicles, some of which are only partially visible. Notice how the bounding box has to be drawn to enclose the entire vehicle, not just the visible light sources.

Also note that the

partially occluded

car in the back has

been annotated

according to the

expected shape of

the complete

vehicle, not just the

visible part.

Notice how the full approximated shape of the cars is taken into account in this example image, despite some of the vehicles occluding each other

These two example images illustrate how to annotate a large vehicle, such as a truck, as it approaches the ego vehicle. Notice how the correct annotations always enclose the entire vehicle, even if most of it is out of frame.

This example image has an oncoming transporter closest to the ego vehicle, which is reflected in its bounding box. In this case it might be necessary to scan a few frames in advance to get an idea of the shape of the vehicle.

These images illustrate how to annotate the bounding box for LSO with a VehicleType of “InconclusiveCluster”

This example image illustrates a case of an “InconclusiveCluster” annotated in the distance as well as a vehicle where all light sources are occluded. Notice how even when no light sources are currently visible, the corresponding LSO should still be annotated as usual.

Finally, this example demonstrates how to handle “Trailer” LSOs towed by “Car” LSOs. In this image, the correct way to annotate the bounding box around the “Trailer” is illustrated.

Type

Description

Example

Car

A Car is any standard-sized vehicle typically capable of seating around 2 to 7 people. Compared to other, larger, vehicle types, the driver will be positioned lower down closer to the road.

Transporter

A Transporter is identified as somewhat larger than a typical car. Often, a transporter will have a larger trunk or may seat around a maximum of 9 passengers. The driver may be situated slightly higher up above the road than in a car. Examples of what should be considered a transporter include delivery vans as well as large recreational vehicles like campers

Truck

A Truck is a large-sized vehicle commonly used to transport goods. The driver will also be positioned higher up above the ground compared to both cars and transporters.

Bus

A Bus is a relatively large vehicle typically seating more than 10 people used for public transport.

TrainTram

The TrainTram type includes rail-bound vehicles like trains and trams.

Motorcycle

A Motorcycle is any motorized two-wheeled vehicle, including actual motorcycles, scooters and mopeds, but excluding e-scooters.

BicycleEscooter

The BicycleEscooter type includes other types of two-wheeled vehicles such as bicycles and escooters. Compared to the motorcycle type, these vehicles will generally operate at lower velocities .

Trailer

A Trailer is any unpowered vehicle towed by another vehicle type except for trucks. Note that while trucks technically have trailers too, for these annotation instructions, they are considered part of the same “Truck” LSO, not as separate “Trailer” LSOs. When towed by other vehicle types though, the trailer should be annotated as its own LSO with its own main lights.

Inconclusive

Inconclusive is applicable in situations where it is reasonably certain that a few light sources are attached to a single vehicle, but it is not possible to determine what type of vehicle it is.

InconclusiveCluster

InconclusiveCluster is applicable in situations where it is reasonably certain that a cluster of light sources is attached to one or more vehicles, but it is not possible to cleanly separate each individual vehicle. This often occurs at far distances on crowded highways.

Uncertain

Uncertain is applicable when it is possible that one or more light sources are attached to one or more vehicles, but a typical human would not be able to confirm this with certainty. In other words, the difference compared to the “Inconclusive” or “InconclusiveCluster” types is that an “Uncertain” LSO might be something completely irrelevant to the LSOD task, but it is hard to tell with certainty.

Other

Other refers to any other type of identifiable vehicle that has not already been explicitly listed.

Attribute

Example

Oncoming

Driving towards the Ego Vehicle.

Proceeding

Driving away from the Ego Vehicle.

Crossing

Driving across the Ego Vehicle.

Uncertain

Select “Uncertain” for de LSO Direction Attribute whenever you are unable to identify the Light Source Direction due to the object being too far away or it being in a position where it is not possible to determine its direction,

Example

Observations

This example image shows a somewhat busy highway scenario. Notice how the

highlighted pair of

trucks have their

VehicleBoundingBox2Doverlapping due to the rear of the left-most truck being occluded by the right-most truck. Also note that

individual light sources also have an bounding box in the example image, this is due to that the image

originates from

development

instruction. Individual light sources are not relevant for validation.

Example

Observations

Compared to the

previous example, this image shows a less busy scenario. A few things are still worth noting though, such as how the

VehicleBoundingBox2Dof each of the

annotated LSOs are drawn to enclose as much of their

respective vehicles as possible. It might not be entirely clear given just this frame what shape each vehicle has, and therefore howits bounding box

should be drawn. In cases like this it is important to look at all frames in the

sequence to get a feeling for what the vehicles look like, type they are, how they move, and so on.

This example shows how to handle

instances where a “Car” LSO is towing a “Trailer” LSO. Both objects are separately annotated. Also note that individual light sources also have an bounding box in the example image, this is due to that the image originates from

development

instruction. Individual light sources are not relevant for validation.