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jbehley / point_labeler

My awesome point cloud labeling tool
MIT License
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How to Annotate Moving Objects #58

Closed SwagJ closed 1 year ago

SwagJ commented 1 year ago

Hi @jbehley,

Thank you for open-source this amazing tool. I have one question regarding to the method to annotate moving object. If multiple scans are aggregated across the whole frame, then moving objects(such as cars, pedestrain) will be quite noisy right? How would you handle this? Thank you in advance. I am looking forward to your reply.

Best,

jbehley commented 1 year ago

For the annotation of moving objects, we employed the following steps:

  1. Remove ground via the plane and label the whole aggregated track of points.
  2. Then one can label the remaining points, such as tires or legs, by filtering the moving points (CTRL+ left click on the label) and move through the "single scans".
  3. To then label the instances, we had a semi-automatic process by first using euclidean clustering an associating cluster of moving-objects with the next time step (see also the Panoptic Segmentation Benchmark paper, which describes the process for getting from semantic to instance segmentation.
  4. Then we had to step through each scan individually to finally fix issues when instances were wrongly assigned or tracks were interrupted.

I'm sure that there are better ways. In particular, the paper by Xieyuanli Chen from our group, see also the repository for some code, proposes an automated combination of ground removal, HDBSCAN clustering, and then tracking to associate instances over time. This could be a starting point to then correct the labels.

Hope that helps.

SwagJ commented 1 year ago

Hi @jbehley,

Thank you for much for your detailed illustration. That completely solves my problem.

Best,