Bee 2D/3D Linking Instructions (LIVE)

v1.0

Change History

2019/1/17: v1
• Added images for each label/example
• Overview of attributes with image examples

Instructions:
• Please first adjust the dimensions and positions of the existing automatically generated
annotations. These will typically be close in distance to the object in the imagery but will need
to be adjusted to fit the object tightly.
• After adjusting existing annotations, please draw boxes around all additional objects visible in
the imagery.
• Only label objects that are visible in the imagery.

• Do not annotate the Ego Vehicle.

General Tips & Guidelines:

Cars in parking lots / Small, Distant Vehicles

• In this task, you will may large numbers of cars in parking lots that are not labeled. It is
required to draw boxes around each of these cars in parking lots, individually.

• In this task, you will often see small cars in the distance that are not labeled. It is required to
draw boxes around all of these far-away, small/distant cars individually.

Box sizing:

• Create tight bounding boxes

• Where there is a projected box for image, fit the box as close as possible to the edges of the
object in the image - do not fit the label to projected box.

• In order for a box to include all visible portions of an object - boxes can overlap.

Visibility:

• For each object, select whether the object is visible in the frame.

Labels:
Overview of Task Labels with Examples
Label Description Example
• Pedestrian- Adult
• Pedestrian - Traffic • Human or older child (older than
Controller
• Pedestrian - Specialty • Police officer, construction
• Pedestrian with Object - • Human adult or older child
Adult:
• Pedestrian with Object - • Human child (8 years old or
Child
• Human adult or older child (older
than 8 years old) on foot. The
box must contain all of the
childs’ limbs and slight posture
movements. Includes standing,
sitting and lying humans.
8 years old) on foot, controlling
traffic. Includes traffic police,
construction worker controlling
traffic, crossing guard, or any
other person controlling traffic.
Includes standing, sitting and
lying human.
worker, firemen, ambulance
personnel, etc. Does not include
traffic police, crossing guards or
any other human directing
traffic. Include pedestrians’
limbs and slight posture
movements . Includes sitting,
standing and lying humans.
(older than 8 year old) on foot,
holding a large object (such as a
baby, large box, open umbrella;
pushing a bicycle, motorcycle,
cart, stroller or trash can; pulling
a suitcase). This does not
include pedestrians carrying
normal day-to-day items (e.g.
backpack, tote bag, purse).
Does not include the leash of
pet.
younger) on foot, holding a large
object. Examples include child
holding a baby, large box, or
open umbrella, pushing a
bicycle, motorcycle, cart,
stroller, or trash can , pulling a
suitcase). The box must include
both the child and the object.
DO NOT include children
carrying normal day-to-day
items (e.g. backpack, tote bag,
purse).

• Pedestrian with Object - • Police officer, construction

Specialty: worker, firemen, ambulance
personnel, etc. Human is
holding a large object.
Examples include a baby, large
box, or open umbrella, pushing
a bicycle, motorcycle, cart
stroller, or trash can; pulling. a
suitcase. The box should
include the pedestrian and
object. Does not include traffic
police, crossing guards, or
humans directing traffic. Does
include standing, sitting and
lying pedestrians with.

• Animal- (examples: dogs/ • Small domestic animals such as

cats) dogs/cats, on foot. Includes
animals on leash. If animal is
leashed, the box should not
include the leash. Does not
include dead animals (roadkill).
Does not include animals being
carried. Does not include
animals being carried. (For
example, if adult is walking a
dog — yields two boxes: one
“Animal” and one “Pedestrian -
Adult”.

• Vehicle - Trailer: • An object designed be towed by

another vehicle. These objects
generally cannot move under
their own power. Includes boat
on trailer, flatbed trailer, cement
mixer, caravan, shopping
container on a trailer, trailers of
18-wheelers, bike trailer. Does
not include boats, shipping
containers, etc. not currently on
a trailer. Does not include cars
being towed.

• Vehicle- wheelchair: • Wheelchair. Includes the

wheelchair rider and also any
wheelchairs without a rider. If
the wheelchair has a rider, the
cuboid must contain both the
human and the wheelchair.

• Vehicle- Other personal • Personal mobility vehicles :

Mobility: examples (skateboard, segway,
roller blades). Includes both
vehicles with rider and vehicles
without rider. If the object has a
rider, the box should contain the
human and the personal
mobility vehicle. Does not
include : wheelchairs, knee
scooters, bicycles, vespas,
sitting scooters, all-terrain
vehicles, trikes, and
motorcycles.

• Vehicle- Bicycle: • Bikes, including tandem and

recumbent bicycles. Includes
both bikes with and without
rider. If the bike has a rider, the
box should contain human and
the bike.’
• Vehicle- Motorcycle: • Includes BOTH motorcycles
with and without a rider. If the
motorcycle has a rider, the box
should also contain the human
rider. Includes: vespas, sitting
scooters. Does not include: all-
terrain vehicles, trikes and
motorcycles with a sidecar.

• Vehicle- Other riding: • Three or four wheeled vehicles

with the rider outside (on top).
Includes all-terrain vehicles
(ATVs), quads, trikes and
motorcycles with sidecars.
Includes both vehicles with rider
and without rider. If the vehicle
has a rider, the box should also
contain the rider. Does not
include convertible cars,
construction vehicles, tractors
or any two-wheeled vehicles like
motorcycles without sidecar,
vespas, sitting scooters.

•
• Vehicle - Car: • Normal sized vehicles, such as
cars, pickup trucks, SUVs, small
passenger vans (<9 people),
small flatbed pickup trucks.

• Vehicle- van • Large passenger van (>8

people), moving vans, delivery
vans, news vans.

• Vehicle- truck: • Large truck shaped vehicles

such as freight trucks, oil tank
trucks, large flatbed trucks,
large delivery trucks, large
moving trucks, tractor units,
garbage trucks, cement trucks,
RVs. Examples: semi-trailer
would be annotated as :
“Vehicle- Truck” and “Vehicle-
Trailer” with the “Vehicle-Truck”
having the Attribute “TOWING”
and “Vehicle-Trailer” with
Attribute “Being TOWED”.
Example: Annotate RV towing a
a car as “VEHICLE_TRUCK”
and “Vehicle- Car” with “vehicle-
truck” having attribute TOWING
and “Vehicle-car” having
attribute being towed.

• Vehicle- Tow Truck • Large vehicle designed to tow

other vehicles, like cars or even
trucks. Example: Annotate a
tow truck towing a broken car
as “Vehicle -tow truck” and
“vehicle-car” with the tow truck
having attribute “Towing” and
“vehicle-car” having attribute
“being-towed”

• Vehicle- Bus • Does not include bendy

(articulated) buses or school
buses

• Vehicle- Bendy Bus: • Bus that is composed of two or

more connected segments.
Each segment of the bendy
(articulated) bus must be
annotated with its own box.
• Vehicle - School Bus: • Bus tasked with transporting
children. Typically a yellow bus,
with flashing stop signs and
dropping off/pickup up children.

• Vehicle- construction • Vehicles primarily designed for

• Vehicle- Mobile Traffic • Mobile signs or boards
Control
construction. Typically very slow
moving or stationary. Includes
cranes, caterpillars, bulldozers,
excavators.
(including electronic signs) that
are meant to direct traffic.
Typically mounted on a trailer or
on the back of a truck. The box
should include the entire object.

• Vehicle- Other: • Includes unusual vehicles (i.e.

tanks, street sweepers, duck
boats, golf carts, tuk tuks). Does
not include objects on trailers .

• Emergency - Other • Non-police emergency vehicle.

Examples include ambulances
and fire trucks.

• Railway vehicle: • Any vehicle that travels on rails,

like light rail, tram or train. For
trains that consist of several
linked units, annotate each
segment with a separate box.

• Other dynamic object: Any object in motion, includes balls

rolling on street, runaway strollers/
shopping carts. Includes
newspapers, bags and leaves, and
balloons blowing in the wind.
Includes dynamic objects affixed to
static object if dynamic object
occupies normal drivable region.
Examples: balloons on string affixed
to fence that get blown across road).

Stationary only tracks:

 Label
• Construction object (cones
and poles)
• Construction object- • any construction related
construction zone signs and
construction sign boards
• Construction object-
Temporary construction
barrier:
• Construction object- other:
• Static road object -
pushable or pullable
Description Example
• any temporary cone or
short temporary pole
(usually orange and striped
used in construction), used/
placed to redirect traffic.
Does not include permanent
structures
signs or boards (including
electronic signs) that are
meant to direct traffic
• Temporary small walls used
to block off construction
zones/ typically plastic /
brightly colored about knee
or waist height.
• Any other large (larger than
0.5 m high) construction
object. Includes stationary
cement mixers, wreckage,
generator, wheelbarrow.
Does not include smaller
items such as sandbags,
tools. Object must be inside
work zone area (marked by
indicators like barrier or
cones). Only includes object
if they’re in a work zone that
occupies part of normal
drivable region ( road work,
etc).
• Objects that can be moved
by a pedestrian. Includes :
garbage bins with wheels,
shopping carts,
wheelbarrows, moving
carts, etc. Object must be
larger than 50cm high.
Object must currently be
stationary.

• Static road object - other • Any object larger than 15cm

obstructing normal drivable
region. Includes dead
animals , tree branches,
trash bags, dumpsters,
mattresses, ladder etc.
Includes shipping
containers not on a trailer.

Attributes:
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%

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

case]

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

• 20-40%:
• 40-60%:

• 60-80%:

• 80-100% : The vehicle is almost fully

occluded.

TOWING ATTRIBUTE: For each vehicle, select attribute to indicate whether the vehicle is
“towing” , "being towed” or neither.

Attribute Explanation

• Towing - The vehicle is towing (trailers

cannot be towing)

• Being Towed - The vehicle/trailer is being

towed by another vehicle

• Neither: i.e. the vehicle is not towing or

being towed.

HUMAN ATTRiBUTES : For each pedestrian/human in the image, select one of the following
attributes:

• Moving - Human is walking, jumping or otherwise moving toward destination

• Standing: human is standing still

• Sitting or lying down: human is sitting or lying down

• Other: includes dancing, jumping in place, exercising in place, etc.

VEHICLE SIGNAL LIGHT ATTRIBUTES “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).

Turn Signal Activation Attributes:

ATTRIBUTE EXAMPLE

Off

Left
Right

Both

Note: This label should only be used when *both*

of the lights on (hazard lights), and not used when
brake lights are on.

The below attributes should be used to indicate whether object is actively signaling (sirens/
flashing lights):

• Active - Emergency signaling is on/active. Does not include hazard lights.

• Not active: Emergency singling is not active

OBJECT/VEHICLE MOTION ATTRIBUTES: For each vehicle, indicate the motion status
attribute for “What is the object motion? “

• Moving- the vehicle is moving forward

• Backing up : the vehicle is going backward

• Changing lanes: The vehicle is changing lanes

• Braking: The vehicle is slowing down using the brakes.

• Stopped: The vehicle is temporarily stopped.

• Parked: The vehicle is parked (no driver or no intention to start driving again)

VISIBILITY
• For each object, select whether the object is visible in the frame.

• Yes: the object is visible

• No: the object cannot be seen in the frame or is fully occluded by other objects

For animals and vehicles that have the rider outside, select the attribute: “Does the vehicle or
animal have a rider?”

• With adult rider: Vehicle has a rider. Rider is adult or older child (>8 years of age)

• With Child rider: vehicle currently has a rider. And rider is a child (=<8 years of age)

• Without rider : vehicle does not have a rider