23/5/2019 Remotasks

Mammoth LiDAR Instructions

NEW!
Complete Mammoth Training
Manual https://goo.gl/y4qoJZ

Change log
[history]
[2018/10/23]
Please pay attention to the 8 new labels.
Manipulated Objects does NOT include Strollers.
Pedestrians with Objects DOES NOT include pedestrians on scooters, skateboards, roller blades, etc.
This is now under the label Sliding Pedestrians
ALWAYS label shopping carts.
[2018/11/15]
Clarification of side mirror rules.
[2019/01/09]
Pedestrians on a Roof: For any pedestrians on a roof (often difficult to differentiate points, determine
directional heading and bottom-z), draw a single NO LABEL box around them, making sure it is tall
enough to include all points.

Basic LiDAR Instructions

Basic LiDAR Guide: New User Guide (open in new tab)

Glossary

LiDAR Vocabulary Terms: Glossary (open in new tab)

Special Rules For This Task

Minimum LiDAR Points:
Label any target object containing at least 5 LiDAR points, only if you can be sure you know the
location and shape of the object. Use your best judgment on correct cuboid position, sizing,
and heading.
Exception: For occluded or far away paths, you should label objects that contain at least 1
LiDAR point if you can accurately guess the correct size and location of the cuboid.
Parked Bicycles & Parked Motorcycles
Do Not label parked bikes and motorcycles
Cuboid Sizing:
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Draw the cuboid as close as possible to the edge of the objectwithout excluding any LiDAR
points. There should be no more than [10cm] of space between the cuboid border and the
closest point on the object.
Pedestrians: Make sure to always include extremities of moving pedestrians inside the box.
For Cars / Vehicles: Include *side mirrors* only IF they have LiDAR points. Always include
LiDAR points for *open vehicle doors* in sizing. Do NOT make cuboid sizing larger to include
antennas. If there are points on only one of the side mirrors, assume the position of the other
side mirror and include it in the label.
No Label:
These tasks use a special label called “NO LABEL”. See the Labels section below for
instructions on how to use the “NO LABEL” category.
Points Below Ground:
Do Not label points that appear to be below the ground points. These points are not real, they
are reflections off the surface of wet or hot ground.

Echo Points:
We do NOT annotate echo points in Mammoth for moving objects: moving objects should be
sized normally & we ignore the extra false points.
We DO annotate echo points for stationary objects with shifting data: if a stationary object's
points shift throughout the scene, and you are sure the object is stationary, make the cuboid just
big enough to include all the points.
We do NOT make cuboids larger to include “noise” which usually means 1-3 random extra lidar
points near the object.
Do NOT:
Do not draw individual cuboids around cars on highways, use one large NO LABEL cuboid for
any portions of highways where there are cars driving.
Do not label parked bicycles or parked motorcycles

Labels
New Labels: The following should be labeled by their utility - regardless of the shape, size or type of vehicle
Police Car (NOTE: does not include police motorcycles or bicycles)
Ambulance
Firetruck
School Bus (NOTE: school buses specifically - does not include charter buses)
Stroller: any pushable or pullable object that does or can contain a child (always label when visible)
Shopping Cart: Basket on wheels for carrying shopping purchases typically found at grocery stores
and supermarkets (always label when visible)
Sliding Pedestrian: any pedestrian traveling on a skateboard, scooter, roller blades etc
Manipulated Object: large pushable or pullable objects that a pedestrian is interacting with
DO NOT label when a pedestrian is not interacting with the object
DOES NOT include objects that already have labels, such as strollers or garbage bins
DOES NOT include objects that a pedestrian is not/has not interacted with
E.g.: a stand alone lawn mower is not necessary to label
DOES NOT include small objects: grocery bags, backpacks
DOES NOT include scooters, skateboards

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Pedestrian: The standard pedestrian boxing is spacious enough to contain all of the pedestrians' limbs
and slight posture movements. Includes sitting and standing individual adults and children. Includes
backpacks, grocery bags or other small carriable objects

Pedestrian With Object: Pedestrian holding a large object, like a baby, large box, or open umbrella, or
a pedestrian pushing a cart, stroller, or trash can, pulling a suitcase. It also includes pedestrians in
wheelchairs. This cuboid includes both the pedestrian and the object. This does not include pedestrians
carrying normal day-to-day (e.g. backpack, tote bag, purse).
In cases of pedestrians manipulating a large object (stroller, lawn mower, cart, etc), there
should be three labels:
One bbox containing the points belonging to only the pedestrian - labeled
as Pedestrian
One bbox containing the points belonging to the object being manipulated
Any manipulated object that already has an object class should be labeled
as such (eg stroller, garbage bin)
All other objects should be labeled asManipulated Object

One bbox containing the points of the union of the pedestrian and the object being
manipulated - Pedestrian With Object
In cases of a pedestrian manipulating and object that is too small individually label (rake,
umbrella, baby, hand held leaf blower etc), there should be two labels:
One bbox containing the points belonging to only the pedestrian - labeled
as Pedestrian
One bbox containing the points of the union of the pedestrian and the object being
manipulated - Pedestrian With Object

If a pedestrian and the object they’re manipulating separate -only the pedestrian should be
tracked and labeled
Cars: Examples: coupes, sedans, vans, pickup trucks, SUVs
If a car is being towed behind another vehicle and it’s wheels are on the road - label this as a
car.
Include *side mirrors* only IF they have LiDAR points. Always include LiDAR points for *open
vehicle doors* in sizing. Do NOT make cuboid sizing larger to include antennas. If there are
points on only one of the side mirrors, assume the position of the other side mirror and include
it in the label.

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Truck: Large truck shaped vehicles such as freight trucks, oil tank trucks, large flatbed trucks, large
delivery trucks, large moving trucks, caravans, garbage trucks, cement trucks.
If a truck is being towed behind another vehicle and it’s wheels are on the road - label this as a
truck.
See above rule on side mirrors, doors and antennas.
Bus: Any type of bus, but DO NOT label school buses
Trailer: The object that is being towed.
Includes all trailers detached from vehicles, boats on trailer (right image)

Directional heading is important, please see photo examples below:

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Does not include

a vehicle that is being towed and is not on a trailer (wheels on the ground)
Trailer with (a) car(s)/truck(s)/motorcycle(s) on top, it’s labeled as “Other Vehicle”
Semi Cab: The cab/truck portion of an articulated semi truck (tractor trailer)
Only the cab/truck, does not include the trailer
Includes
Entire Cab should be enclosed - it is OK to overlap with Semi Trailer to accomplish full
cab enclosure
detached semi cabs/trucks

Semi Trailer: The trailer portion of an articulated semi truck (tractor trailer)
Includes detached semi trailers
Should enclose the entire trailer

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Other Vehicle: Includes unusual vehicles such as trucks with cars on top, trams, boats on the ground,
golf carts, tuk tuks, limousines, and trailers with vehicles on top.
Does include:
trailer with (a) car(s)/truck(s)/motorcycle(s) on top - single label
if the trailer has an “Other Vehicle” on top of it, please use (2) cuboids: 1 Other Vehicle
cuboid for the trailer only and 1 Other Vehicle cuboid for the vehicle on top only, with
minimal overlap
Does not include
parked bikes and motorcycles.

Pets: Any dogs or cats. See below for Birds label.

Motorcyclist: Pedestrian(s) on motorcycle or ATV. This cuboid includes both the pedestrian(s) and the
motorcycle/ATV.
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Cyclist: Pedestrian on a bicycle. This cuboid includes both the pedestrian(s) and the bike.
Other Cyclist: Pedestrians pushing bikes or on tandem bicycles.
Garbage Bins and Dumpsters: Any garbage bins and dumpsters.

Cones and Short Poles: Any temporary cone or short temporary pole (usually orange or striped and
used in construction), placed to redirect traffic. Does not include permanent structures.
Construction Zone Signs and Construction Sign Boards: Any construction related signs or boards
(including electronic signs) that are meant to direct traffic.

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Birds: Annotate and track all birds individually within 20m of the robot. Individual birds or flocks that do
not come within 20m of the robot should receive a no label zone.
At > 20m an entire flock can receive a no label zone
At < 20m each bird should be labeled individually in each frame in which points for the bird
appear; if there is a flock of birds label all birds that appear with LiDAR points

Shopping Cart: Basket on wheels for carrying shopping purchases typically found at grocery stores
and supermarkets (always label when visible)

Shopping Cart Crowd: a chain of multiple (2 or more) shopping carts pushed together. The chain
should receive one label and capture all points for all shopping carts.

NO LABEL: The “NO LABEL” should be used in three (4) scenarios:

Highways: Any portions of highways where there are cars driving.
Dense Groups of Pedestrians: (This is rare) A very dense and hard to see
group of pedestrians in which you absolutely cannot tell the direction they’re facing or

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differentiate points between people (usually because the group is too far away or blocked by
something). E.g. a crowded outdoor restaurant area.
Distant Row of Cars in Parking Lot: If there’s a group of cars parked next to each other in a
parking lot, far enough that each car has less than 5 LiDAR points), draw a NO LABEL box
around all of the cars as best you can.
Pedestrians on a Roof: For any pedestrians on a roof (often difficult to differentiate points,
determine directional heading and bottom-z), draw a single NO LABEL box around them, making
sure it is tall enough to include all points.

Change Log History

[2018/11/29]
Added new labels: shopping cart, shopping cart crowd

[2018/09/26]
Clarification: Added Dumpsters photos, added photo examples of Trailer with correct directional heading

[2018/09/18]
Removed labels: Vehicle Towing, Towed Object, Trailers & Boats
Added new labels: Trailer, Semi Cab, Semi Trailer
Revised labels: Limousines, Boats on the ground, and Trailer with (a) car(s)/truck(s)/motorcycle(s) on top are
included in [Other Vehicle] Label.
Trailer with Boat on top is now Trailer
Clarification: If one vehicle is towing another vehicle and the vehicle is NOT on trailer, label both vehicles
separately as (car/truck/motorcycle) and NOT Vehicle Towing (removed) and Towed Object (removed)

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