MINIMUM LIDAR POINTS FOR AN

OBJECT TO BE LABELLED TURTLE

5 PANDA
5 PARROT
5

MINIMUM LIDAR POINTS FOR AN

OBJECT TO BE LABELLED 5 5 5

MINIMUM POINTS FOR OCCLUDED

OBJECTS IF YOU CAN GUESS ITS
LOCATION N/A NO NO

ECHO POINTS FOR STATIONARY

OBJECTS NO YES YES

ECHO POINTS FOR DYNAMIC OBJECTS NO NO YES

SIDE MIRRORS YES NO YES

OPEN DOORS (if included with the
cuboid) Separate cuboid NO YES

MAXIMUM SPACE BET.CUBOID BORDER

AND THE CLOSEST POINT ON THE
OBJECT 10cm 20cm 10cm

CAMERA VIEW OR LIDAR VIEW LIDAR LIDAR LIDAR

at least 1 radar
point with
camera view
even without
lidar points,
applicable for
moving vehicles
and pedestrians
RADAR POINTS only N/A N/A

EXTREMITIES FOR VEHICLE INCLUDED INCLUDED INCLUDED

arms/limbs are
excluded, only
torso
width.estimated
dimension for
width/length is .
35-.45 for fewer
EXTREMITIES FOR PEDESTRIANS lidar points INCLUDED INCLUDED
 YES/pls check
the instruction
about shifting
data and
stationary object.
There are 2
types of
instructions for it
MARKED AS STATIONARY YES now. NO

10 meters or
more from the
NO LABEL ZONE RULES N/A edge of the road. N/A
 BEE
0 UNICORN
5 MAMMOTH
5 BUNNY
1 CAT
5

1 5 5 1 5

0 1 1 1 N/A

YES/ if shifting
NO data NO NO NO

NO YES NO NO NO

NO NO YES NO YES

YES YES YES YES YES

20cm 20cm 10cm 0 0

BOTH LIDAR BOTH CAMERA VIEW LIDAR

at least 1 radar
point with
camera view
even without
lidar points,
applicable for
moving vehicles at least 1 radar points,
and pedestrians should be included in
only N/A N/A the cuboid. N/A

EXCLUDED IF IT IS
MORE THAN 1.5M
HIGH/ INCLUDED if it
INCLUDED INCLUDED INCLUDED interferes traffic. INCLUDED

INCLUDED with
umbrellas and normal
INCLUDED INCLUDED INCLUDED sized bags. INCLUDED
 YES YES YES NO NO

Other side of the

Parking lots with highway that has
at least one car moving cars and
in it, pls exclude if cars in the
driveways for Parking lots with parking lot have
entrance and at least 3 cars in less than 5 lidar
exit only. Make it, only covers points, we can
sure not to go the parking lots create a box that
over buildings where the cars cover the
and sidewalks. are parked. parking lots. N/A N/A
less than 50m from SDC= 5
lidar points/ more than 50m
from SDC=LION
1 lidar point SHEEP Giraffe

less than 50m from SDC= 5

lidar points/ more than 50m
from SDC= 1 lidar point 5 1

N/A 5 1

NO NO NO

NO NO NO

NO NO

YES YES YES

10CM 0 0

LIDAR LIDAR BOTH

N/A N/A N/A

EXCLUDED IF IT IS
MORE THAN 1.5M
HIGH/ INCLUDED if
INCLUDED NO FOR CAR EXHAUST
it interferes traffic.

INCLUDED INCLUDED INCLUDED

YES YES NO

N/A N/A N/A