Lucid Seg Scenario

Semantic Segmentation Data Labelling: Classes and

Instructions

General Instructions / Important Points:

Invalid Images Class for images with glare, rain, shadows or darkness

Many images will have natural effects that make accurate annotation impossible.
Generally these include rain, glare, shadows, darkness. When an area of the image
is completely obscured use the ‘Invalid Image’ class for this area. Here are some
examples of images with natural effects that distort or obscure part of the image - and
where the Invalid Image class should be used.

Here, there are areas which should be labeled on the road / side-walk. The sky
becomes "Invalid Image Area (bad exposure)" as you can’t tell if it is just sky or if there
are other objects there as well.

Here, there are some drops which completely destroy image areas (e.g. big one in
middle) --> use "Invalid Image Area (bad exposure)" for this area. For smaller drops
where you can tell there are trees - label these as vegetation.
Here, we have some minor artifacts, but all semantic classes can be recognized --> do
not use "Invalid Image Area (bad exposure)" for any areas.

Uncertain Areas:

If it is uncertain that an area belongs to a specific class, use the next more general
label which is certain and applicable.

 Example: Unclear if object on pole is traffic light or traffic sign --> “Other pole
supported objects”.

Small parts of objects which cannot be determined with certainty should not be labeled
separately but included in the surrounding label.

 Examples:

 Object on fence small and unclear whether traffic sign or poster --> label
as fence.
 Tiny bits of tarmac visible through vegetation, but unclear whether
“Road”, “Sidewalk” or “Building” --> please label as “Vegetation”.

In case of uncertainty, it is preferable to use a more general label, rather than provide a
specific but potentially incorrect labeling.
If the uncertainty is due to bright/dark area of the image, which cannot be fixed in the
image viewer during labeling, the class "Invalid Image Area (bad exposure)" should be
used.
In rare case that a sufficiently large part of the image is completely uncertain, the label
“Uncertain” should be used. This should be used very sparingly.

UPDATE 12/14/18

1. Potholes must not be labelled as "smoke", but simply as "road" or

whichever label surrounds them (example below)
 1.

2. Lane boundaries marked by Botts' dots (a.k.a. reflector dots) must be

labelled as "Lane boundary Line (OTHER) - (example below)

1.

For instance segmentation:

If the boundary between instances in a group cannot be clearly determined, the whole
group should be labeled as a corresponding class, without an instance being assigned
- please see “Pedestrian Group”, “Vehicle Group” or “Bicycle Group”. In general, an
object should not be assigned an instance label if the visible part of the object is less
than ca. 40 pixels (e.g. 8x5 pixels), and this objects touches another object of the same
class. However, also larger objects should not be marked as instances, if they cannot
be clearly separated.

No holes assumption.

Do not label objects visible through windows. Correspondingly, do not label reflections
of objects. Also, do not label small holes in vegetation (ca. Upto 10x10) by the visible
object behind.
Road Line Markings.

For all lines with interrupted patterns (double lines, dashed line, dot markings, yield
lines): the individual paint marking should be marked, and not the continuous virtual
line.
Lines marking boundaries of a bike lane should be explicitly marked.
Lines bounding a plain crosswalk should not be separately marked, but form a part of
the crosswalk label.

Complex Road Markings.

Complex Shapes (other): please mark only the actual painted parts.
Road Markings.

Please DO NOT mark small areas which do not have any clear interpretation.
(See negative examples in red boxes on the right.)

Category
Label
Instance
Description
Flat
Road
Part of ground on which cars usually drive, i.e. all lanes, all directions, all streets.
Excludes the markings on the road as defined below.
Excludes curbs.
Includes areas only delimited by markings from the main road, if not marked otherwise, e.g.
roundabout lanes or parking spaces.
Includes rail tracks integrated into road, which can be driven over.
Road (pedestrian shared space)
Part of ground which is shared by cars and pedestrians, e.g. parking, driveways.
Please use common sense for the boundary of this class: upto which point would you expect a
car?

Sidewalk
Part of ground designated for pedestrians. Often delimited from the road by some obstacle, e.g.
curbs or poles (might be small) or elevation. This label includes traffic islands (the walkable
part).

Bike Lane
Part of ground designated for cyclists. If bike lane is separated by boundary lines, mark the
boundary lines separately.
Speed Bumps/Humps
Ground (road adjacent, street-level, flat)
Any other horizontal ground near street-level not listed above: elevated parts of traffic islands,
lawn, soil.
Road Marking
Stop Line
Stop line.
Yield Line
Yield line: Please mark the individual triangle symbols.
Keep Clear Area
Please mark the imaginary rectangle area corresponding to keep clear area.
Lane boundary Line (WHITE)
Any white line bounding a lane, e.g. double lines, dashed line, or line marked by dot markings.
Please mark only the actual painted markings (ie. e.g. dashes, dots), and not the
continuous virtual line.
Lane boundary Line (YELLOW)
Any yellow line bounding a lane, otherwise as above.
Lane boundary Line (OTHER)
Any other line bounding lane, for which the color cannot be clearly defined, e.g. reflector dots.
Crosswalk
Any pedestrian crosswalk, e.g. plain or zebra.
Please mark the whole imaginary area covered by the marking, e.g. for a zebra crossing,
the white stripes and the space in between them.
For plain crossroads (ie. two parallel lines orthogonal to driving direction), please do not mark
lines separately, but mark them as part of crossroad.
Mark crosswalks only when road markings are present, i.e. do not mark, if it is clear from
context that pedestrians will be crossing, but there are no markings on the road.
Other Road Marking
Any road marking not listed above, which is clearly readable and interpretable.
DO: Please mark only the actual painted surface of the marking.
DO NOT mark small areas which do not have any clear interpretation.
Examples: HOV (high occupancy vehicle), other text, parking markings, direction markings…
Human
Pedestrian
YES
Human not using a vehicle.
Examples: people walking, standing or sitting.
Includes: children, toddlers, someone pushing or standing next to bicycle (both legs on the
same side of bicycle).
Includes anything that is carried by the person.
Do not assign an instance label if boundary between pedestrians in a group cannot be clearly
determined - use “Pedestrian Group” instead.
Bicyclist
YES
Human actively riding a bicycle. Excludes person pushing or standing next to a bicycle
("Pedestrian").
Motorcyclist
YES
Human actively riding a motorcycle. Excludes person pushing or standing next to a motorcycle
("Pedestrian").
Other Rider
Any other person using a different means of transportation.
Includes: riders/drivers of a scooter, skateboards, horse, roller-blades, wheel-chairs, road
cleaning cars, cars without roof.
Excludes car drivers visible inside a closed vehicle.
Pedestrian Group
A group of people, where distinguishing individuals is not possible with certainty or not
practicable.
Use this class if boundary between pedestrians in a group cannot be clearly determined.
General rule of thumb: if visible part of person is less than ca. 40 pixels (e.g. 8x5 pixels), and
this person touches another person.
Vehicle
Car
YES
Any type of car, incl. jeeps, SUVs, vans, caravans, car towed trailers
Truck
YES
incl. towed trailers
Bus
YES
incl. towed trailers
Motorcycle
YES
excludes the rider, who is marked separately.
Bicycle
YES
excludes the rider, who is marked separately.
Other Vehicle (Ground-based)
Any other ground based mechanical means of transportation.
Examples: scooter, wheelchair, stroller, pushbike, unpulled trailer.
Excludes e.g. airplane, boat, submarine, tie fighter, which should be labeled as “Other
movable/dynamic objects”.
Vehicle Group
A group of any of the above vehicles, where individual instances are too small to distinguish
with certainty.
Use this class if boundary between vehicles in a group cannot be clearly determined. General
rule of thumb: if visible part is less than ca. 40 pixels (e.g. 8x5 pixels), and this vehicle touches
another vehicle.
Bicycle Group
A group of bicycles (incl. electric bicycles), where individual instances are too small to
distinguish with certainty.
Use this class if boundary between bicycles in a group cannot be clearly determined. General
rule of thumb: if visible part is less than ca. 40 pixels (e.g. 8x5 pixels), and this bicycle touches
another bicycle.
Road Side Delimiting Structures
Curb
curbs, which cannot be driven over, .ie,. does not include curb cuts
Guard Rail
Other Road Side Barrier
Any other structure delimiting a road to the side, e.g. jersey barrier or lane separators.
Traffic-related Object
Traffic Sign (front)
YES
Only if traffic sign is clearly readable. No back-side or side views, or unclear views.
Traffic Sign (back/side/unclear)
Traffic sign seen from the back or a side, such that it cannot be interpreted. Also includes cases
for which it is clear that object is a traffic sign, but facing direction is unclear.
Traffic Light (front)
YES
Only if traffic sign is clearly readable. No back-side or side views, or unclear views.
Traffic Light (back/side/unclear)
Traffic light from back or side view, such that it cannot be interpreted. Also includes cases for
which it is clear that object is a traffic light, but facing direction is unclear.
Barrier
Any barrier potentially blocking the road, e.g. rail, parking, boom barrier
Traffic Cone
Construction / Other Objects
Building
Human-made buildings. Includes case when only parts of buildings are visible, e.g. walls.
Wall
Any wall, which is not clearly part of a building. If primarily and directly delimiting a road, mark
as "Other road side barrier".
Fence
If primarily and directly delimiting a road, mark as "Other road side barrier".
Bridge
Bridge or overpass structure. Only the bridge itself should be labeled, any other objects on top
of bridge should be labeled individually, e.g road, pedestrian, rider.
Tunnel
Visible inside area of tunnel.
Pole
Any pole or pole like supporting structure: e.g. for sign, traffic light, street illumination.
Should include the horizontal part of poles for support of other objects toward the top, e.g. for
carrying lamps or traffic lights.
Overhead Cables
Overhead cables, e.g. power or phone lines. Often supported by poles.
Other pole supported objects
Any other structure supported by a pole which is not covered by the other categories.
E.g. street lights.
Debris
Construction
Including scaffolding, construction signs and barriers
Smoke
Smoke coming out of vehicles exhaust or manhole covers on the road.
Nature
Landscape/Terrain
Other ground (not adjacent to road, not street-level, not flat), e.g. hill or mountain sides, fields.
Vegetation
Vertical vegetation such as: trees or tall bushes. Excludes predominantly horizontal vegetation
such as grass or fields, which should be labeled as "Landscape/Terrain"
Sky
Water
Large water bodies: sea, lakes, rivers
Animal
Void
Ego Vehicle
Parts of the acquisition vehicle visible in the input image
Other Movable/Dynamic Objects
Objects that might be moved the next day/hour/minute, which are not listed above: Movable
trash bin, buggy, bag, wheelchair
Other Static Objects
Other permanent objects not listed above.
Invalid Image Area (bad exposure)
No structure is present in parts of image due to irreparably bad lighting, e.g. over- or under-
exposure, sun glare, resulting in too bright or dark regions which cannot be fixed by changing
brightness/contrast settings in the viewer.
Uncertain
Reserved for very few cases where the object cannot be determined with sufficient certainty.
Should be used very rarely.
Should not be used for small objects, these should be mostly be marked by the
surrounding/supporting class.