Académique Documents
Professionnel Documents
Culture Documents
The Bee
Handbook
Table of Contents
The Bee Handbook 1
Table of Contents 2
Recent Updates & Changelog 4
April 2019 4
March 2019 4
February 2019 4
March Instructions Update 5
(work in progress) 5
New Label Changes 5
March Instructions Update (Cont.) 7
No Label Zone Changes 7
House Driveway Changes 7
Remotasks University Bee Courses 8
Understanding Bee Attributes 8
Understanding Bee Labels 8
Understanding Bee Permanent Street and Traffic Signs 8
Quickstart Guide 9
Rules for Edge Cases 10
Labels Changing Mid-scene 10
Annotating Specific Areas 11
Fast Food Drive-Thrus 11
Buildings with Pedestrians Inside & On Top 12
Auto-Repair Shops 13
When the SDC is in a parking lot 14
Parking Garages 15
Annotating Apartment Parking Spaces 17
Annotating Specific Objects 18
2
3
March 2019
- March Instructions Update [3.15]
- Annotating parking garages [3.11]
- Added Weekly Error Report section to reference all docs. [3.20]
- Added Yellow Highway Barrels or Impact Attenuators [3.21]
- Added Labels Changing Mid-scene [3.25]
- Added images to Minivans mislabeled as Vans [3.25]
- Added Static Road Object - Permanent Street and Traffic Signs [3.25]
4
5
2. Construction Object - Temporary Fence:
a. Annotate any fencing used
to block off pedestrians
and traffic from
construction areas. These
are typically 2m - 3m tall,
and are made out of wood
or metal.
6
7
8
Quickstart Guide
★ DO NOT include echo points
★ Leave ‘No Label Zone’ cuboids at the default 2.0m height. Make sure the
Z-index is sitting on the ground.
★ Overlapping cuboids of Semi truck and Trailer is okay
★ Annotate all garbage bins on the road, driveway, and sidewalk as “Static Road
Object - Pushable or Pullable”
★ Label any target object containing at least 1 LIDAR or RADAR point, as long as
you can see it in street view you want to annotate it (including the 0 points
frames). Be reasonably sure you know the location and shape of the object. Use
your best judgment on correct cuboid position, sizing, and heading
9
Once they let go of the cart, however, the
Pedestrian with Object - Adult cuboid stops,
and two new cuboids are created - one
Pedestrian - Adult and one Static Road Object
Other.
10
11
12
Auto-Repair Shops
Auto repair areas should be treated just like gas stations. All objects - eg. cars
and pedestrians - should be annotated individually.
13
Here, all of the cars in the parking lot the SDC is driving in are
annotated individually. The far away, unconnected parking lot is
correctly annotated with a no label zone.
14
Parking Garages
If you can see LiDAR points of vehicles inside of a parking garage, annotate
the first floor of the parking garage with a No Label Zone.
15
Here, all of the cars in the parking lot the SDC is driving in are annotated
individually. Even though there is a small divider between the rows of cars, all
of the cars in the directly connected parking lot are annotated individually.
16
17
18
19
Semi-Trucks
Annotate semi-trucks with two separate cuboids:
Label the first cuboid ‘Vehicle - Truck’ with the attribute
‘Towing’. Label the second cuboid ‘Vehicle - Trailer’ with
the attribute ‘Being towed’.
If the truck and the trailer are currently ‘Parked’ or
‘Stopped’, they should still have the same attribute ‘Towed’
and ‘Being towed’.
20
21
22
Forklifts
Forklifts should be labeled as ‘Vehicle - Other’. Include all
parts of the vehicle into the cuboid when annotating (e.g. the
forks, or the hydraulics).
23
24
Wood Chippers
Wood Chippers or mulchers mounted on trailers
should be annotated as ‘Vehicle - Trailer’. If it is being
towed, make sure to have give the object the attribute
‘Being towed’.
Remember! If there are any tree branches or other
debris, it needs to be annotated with ‘Static Road
Object - Other’.
25
26
Look for gaps and spacing between cars stopped at stop lights. These cars are heavily occluded, but
there may be enough points to annotate these cars. (Source: https://cl.ly/e83479b8de07)
27
Watch out for other vehicles that are occluded by gas pumps. Check for the normal areas that cars may
be pumping gas as well. (Source: https://cl.ly/059d37aeeeb6)
28
29
30
31
32
33
34
These signs appear to be much larger when the
SDC is far away, but once the SDC approaches
thm, the noise disappears revealing the true
dimensions of the object; the cuboids need to
be much smaller.
35
Over-annotating reflections
When the SDC is near a building, it will pick up the lidar points reflecting off of
objects in front of it. Be careful not to over-annotate these false lidar points.
https://cl.ly/194bdbc55b76 The pedestrians on the left of the orange line are
reflections of pedestrians on the right.
36
37
Examples:
Signs that need to be annotated - pink arrows
Parking lot in front and behind buildings
38