Leddar PixSet

Typically, a person that is walking, standing, sitting, etc. A humanlike mannequin is annotated as pedestrian. The arms and the legs of the person are included inside the bounding box. If a pedestrian is carrying an object (bag, etc.), this object is included in the bounding box. Note that in the case of two or more persons carrying the same object, the bounding box of only one pedestrian includes that object. In addition, each pedestrian instance must have the special attribute “Human activity” as explained below.

A bicycle with a rider. Both the bicycle and the rider are included in the box.

Human or electric powered two-wheeled vehicle designed to travel at lower speeds either on road surface, sidewalks or bicycle paths. No rider currently is on the bicycle. If a pedestrian is walking alongside their bicycle, one box is provided for the pedestrian and one box for the bicycle.

Area or device intended to park or secure bicycles in a row. It includes all the bicycles parked in it and any empty slots that are intended for parking bicycles. Bicycles that are not part of the rack are not included. Instead, they are annotated as bicycles separately.

Vehicle designed primarily for personal use, e.g., sedan, hatchback, SUV, personal pickup truck (Ford F-150, for example), jeep.

Larger four-wheeled vehicle with sliding side doors.

Buses and shuttles designed to carry more than 10 people. For buses with two sections linked with a bending part, each section is included in a separate box.

Large vehicle primarily designed to haul cargo. All the vehicle and the cargo are included inside the box. If the truck has two parts (i.e., long truck), each section is included in a separate box.

Any vehicle trailer for cars, motorcycles, trucks, etc., that is used to hold and move objects (regardless of whether they are currently being towed or not). The trailer and the objects on it are included inside the box. For example, if a boat is on a trailer, the boat is included in the box.

Train or tram. Each rigid section is in a separate box.

A motorcycle with a rider. Both the motorcycle and the rider are included in the box.

Gasoline or electric powered two-wheeled vehicle designed to move rapidly (at the speed of standard cars) on the road surface. This category includes all motorcycles, vespas and scooters. It also includes light three-wheeled vehicles, often with a light plastic roof and open on the sides, which tend to be common in Asia.

Vehicles primarily designed for construction. Typically very slow-moving or stationary. Cranes and extremities of construction vehicles are only included in annotations if they interfere with traffic. Trucks used to haul rocks or building materials are considered trucks rather than construction vehicles.

Any vehicle type which does not fit the other categories.

Typical octagonal red stop sign. The pole is not included.

Set of lights designed for traffic management. Includes those for motorized vehicles and non-motorized such as cyclists and pedestrians.

Any retroreflective sign that can be useful for navigation. The pole or advertisements are not included.

Cones or cylinders typically used for temporary traffic management.

Any fire hydrant.

All animals, e.g., cats, dogs, deer. (No small birds)

Any metal, concrete or water barrier temporarily placed in the scene in order to redirect vehicle or pedestrian traffic. In particular, includes barriers used at construction zones. Multiple barriers either connected or just placed next to each other are annotated separately.

Any object on the road which has not been mentioned above and that is too large to be driven over safely.

For each object, a persistent ID is included.

Fully occluded objects are ignored, and partially occluded objects are annotated whenever possible (see also “Number of points” below). Occluded boxes may be flagged, too. So, in addition to the position, dimension, orientation and category for each box, we may have a number that is representative of the level of occlusion. For example, a “0” means no occlusion. A “1” means that less than half of the object is occluded. A “2” means that more than half is occluded.

Not to be confused with occlusion, truncation is when an object is partially outside the LiDAR’s field of view. Like for occlusion, we may have a separate flag with the level of truncation. “0” means that all 8 corners of the box are within the field of view (occluded or not). A flag “1” means that less than half of the box is outside (equivalently, at least one corner is outside, but the center of the box is inside). Finally, a flag “2” means that more than half of the box is outside (equivalently, the center of the box is outside, but at least one corner is inside).

For each pedestrian, their activity may be specified as one of the following:

1. Sitting or lying down: the person is sitting or lying.

2. Standing: the person is standing.
3. Moving: the person is moving.

For each vehicle (including cars, vans, buses, trucks, trains, motorcyclists, cyclists, trailers as well as construction and unclassified vehicles), its activity may be indicated as one of the following:

1. Parked: the vehicle is parked with no intent of moving. Typically, that is, on the side of the road, or in a parking lot, with no driver inside.

2. Stopped: the vehicle is temporarily stationary and intends to move (e.g., stopped at a traffic light).

Moving: the vehicle is moving.

For each object, “True” or “False” specifies if the object is on the drivable area. The drivable area is referred to as the region of the road where the vehicles are allowed to circulate, i.e., in most cases on the asphalt. However, this excludes parking lots, or building private driveways. Note that this attribute will help during training and testing since objects with “On the road” set to “True” correspond to most important objects to be detected.

Object with no LiDAR points may be labeled as long as it was labeled with some LiDAR points inside the box in a previous frame.