Lucid Traffic Signs Instructions

V 1.5, updated 7/25/19

Alerts/Special Rules
 *Alert* : Only box signs that are meant for car drivers only

 Do not box signs meant for pedestrians, or bus drivers (examples)


 If you can’t tell what the sign is, don’t box!

Summary of task
 Draw tight boxes around vehicle traffic signs in the object classes.
 Follow boxing rules.

 Only box signs where 1) you are 95%+ certain that it is a sign for car drivers AND 2) you
can see at least some patterns/text/symbols that indicate what the sign says.
 Use context ONLY IF you are already 95%+ certain that it is a sign for vehicles, but you
are not sure the content.
Common error: Signs like this at intersections are “other regulatory sign” NOTroundabout sign. Roundabout signs
ONLY happen at roundabouts (where there are no traffic lights).
Labels
Class Sub Class

Regulatory Sign (tells vehicles what to do) Stop

Stop Here For Ped

State Law Stop

Other Stop

Yield

Yield Here for Pedestrians

Turning Vehicles Yield to Pedestrians

State Law Yield

Do Not Enter

Speed Limit

No Turn on Red

Other Regulatory Sign

Warning Sign (warn vehicles about situations Circulatory_Roundabout

or obstacles)
Directional_Roundabout

Intersectional_Lane_Control_Roundabout
 RailroadCrossing_Crossbuck

RailroadCrossing_Warning

RailroadCrossing_Other

RailroadCrossing_Intersection

Other Warning

Pedestrian or Bicycle Sign (yellow or green School_Zone

signs that tell pedestrians/bikes how to be
safe and warn vehicles about areas with
Pedestrian
pedestrians/bikes)

Other Pedestrian/Bicycle Sign

Construction Sign (usually orange, warns Construction

about construction)

Not Listed (other signs not in categories All Other Signs

above)
Bounding Box Rules
Rule Example

Type of
signs to
box:
ONLY
box
signs
that cou
ld
potentia
lly
convey
useful
driving
informat
ion to
a motori
st.
DO box
stop
signs on
the
sides of
buses,
e.g.
school
buses
DO
annotate
signs
held by
pedestri
ans
(Stop
Sign,
Drive
Slowly
Sign,
etc)
DO box
digital
signs
that are
turned
on

 E
x
c
e
p
ti
o
n
:
d
o
n
’t
b
o
x
d
i
g
it
a
l
si Box signs on buses
g
n
s
t
h
a
t
s
h
o
w
y
o
u
r Box signs held by people
 s
p
e
e
d

You
should N
OT box
certain
types of
signs

Box digital signs that are turned on

Minimu 10x10 = box

m size: 10x5 = box
10 15x5 = box
pixels o 9x9 = DON’T box since there is not one side that is 10+ pixels
n either
side

Box visi
ble only

 If
o
c
cl
u
d
e
d
i
n
t
h
e
m
i
d
d
l
e
,
e
x
t
e
n
d
t
o
i
 n
cl
u
d
e
w
h
o
l
e
si
g
n

Box
signs
together
IF they
are on
the
same
post and
should
be read
together
to
commun
icate the
traffic
messag
e.

 If
y
o
u
a
r
e
n
o
t
s
u
r
e
if
2
si
g
n
s
s
h
o
u
l
d
b
e
b
o
x
e
d
t
o
g
e
t
h
e
r,
t
h
i
n
k
a
b
o
u
t
w
h
e
t
h
e
r
o
n
e
si
g
n
o
n
it
s
o
w
n
m
a
k
e
s
s
e
n
s
e
.
If
Tightne
ss:
Attempt
to make
the
boundin
g box as
tight as
possible
around
the sign
allowing
no more
than a 3
pixels of
buffer.
Sign Direction Rules
Only box sign if
it faces the
camera AND you
are 95% certain it is
a sign for vehicles.
DON’T label if:

1. It is not a sign
for vehicles
2. It is a location
sign (like
street or
highway
number sign)
3. You can’t see
any
patterns/text/s
ymbols (for
example if
you see only
the back, or
sign is at a
big angle)

For example, even

though you can
identify a stop sign
by shape, don’t box
since we only see
the back.
Blurry/Distant Signs
If you are
95%+ sure
it is a sign
for vehicles ^DO NOT annotate all rectangular blurry objects as signs unless you have reason to believe that it
BUT you is a sign for motorists.
are not
sure what
the sign is,
use
context!
Context
is supplem
ental
informatio
n - if you
can read
the sign
use that
informatio
n first.
Look at:

 Sha
pe
(Dia
mon
d,
pent
ago
n,
cros
s-
hatc
h
esq
ue
sign
s)
 Col
or/C
olor
Patt
ern
(Ea
sier
for
oran
ge,
yell
ow
sign
s,
and
othe
r
disc
erni
 ble
colo
r
patt
erns
)
 Oth
er
sign
s
that
look
simil
ar
near
by

Do NOT
box if:

 Sign
is
alm
ost
com
plet
ely
whit
ed
out
 Sign
has
no
visib
le
cont
ent
due
to
sun
flare
,
refle
ctio
n, or
dist
anc
e
 Sign
whe
re
sha
pe/c
olor/
loca
tion
 clue
s do
not
help
dete
rmin
e
the
sign
type

Exception:
traffic signs
near traffic
lights/inters
ections
should be
labeled
‘Other
Regulatory
Signs’
(Does not
include
signs that
portray
location i.e
21st
Avenue,
35th blvd,
etc)
Occlusion/Truncation Rules
Rule Cont Example
ent

Occl DO b
usio ox if
n you
can
still
deter
mine
it is a
traffic
sign
for
vehic
les
using
conte
xt

Poor DO u
Ima se
ge conte
Qual xt
ity clues
due (color
to ,
Ligh locati
t, on,
Cam visibl
era e
Issu text/s
es, ymbo
Wea ls
ther clues
) to
box
signs
that
are
hard
to
see
beca
use
of
imag
e
qualit
y.
If you
can’t
read
the ^In the image above, all 4 of these signs would receive a ‘Pedestrian’ annotations despite having
sign poor image quality. You would need to use context through the location, color, and the shape of the
and blur.
there
is no
conte
xt, do
NOT
box.

^In this image, the construction sign is blurry and far away. However, by using the context of the
sign color, size, shape, and text location one could infer the sign class. Box it.
Trun DO b
catio ox if
n you
can
still
deter
mine
it is a
traffic
sign
for
vehic
les
using
conte
xt
Object Classes
Class Sub Class Example

Regul Stop
atory
Sign (
tells
vehicl
es
what
to do)
Includes stop sign on buses or held by person
Stop Here For
Ped
State Law
Stop
Other Stop
Yield Must have the red yield triangle

Yield Here for Must have the red yield triangle

Pedestrians
Turning Must have the red yield triangle
Vehicles Yield
to Pedestrians
State Law
Yield
Do Not Enter

Must ALWAYS have the words ‘DO NOT’ on top followed by a white bar followed by
‘ENTER’

Speed Limit
Don’t include digital signs that measure speed:
No Turn on MUST INCLUDE WORDS “ON RED” - if you don’t see “on red” use different label
Red
Other (Any other lawfully binding sign that isn’t listed above). Includes signs at/near
Regulatory intersections even if they are very blurry!
Sign NOT street names.
Not a catch all for signs that are blurry/hard to see
Warni Circulatory_R These signs only happen at roundabouts, NEVER at regular intersections.
ng oundabout
Sign (
warn
vehicl
es
about
situati
ons or
obsta
cles)
Directional_R These signs only happen at roundabouts, NEVER at regular intersections.
oundabout
Intersectional These signs only happen at roundabouts, NEVER at regular intersections.
_Lane_Contro
l_Roundabout
RailroadCross
ing_Crossbuc
k
RailroadCross
ing_Warning
RailroadCross All other RailRoad warning signs not included above Examples:
ing_Other
RailroadCross
ing_Intersecti
on
Other Warning (Any other sign that warns of an obstacle/scenario in the future)

Not a catch all for signs that are blurry/hard to see

Pede School_Zone
strian
or
Bicyc
le
Sign (
yellow
or
green
signs
that
tell
pedes
trians/
bikes
how
to be
safe
and
warn
vehicl
es
about
areas
with
pedes
trians/
bikes)
Pedestrian
Other (Any Pedestrian/Bicycle Warning Sign that is not listed above)
Pedestrian/Bic Not a catch all for signs that are blurry/hard to see
ycle Sign
Const Construction
ructio
n
Sign (
usuall
y
orang
e,
warns
about
constr
uction
)
Not All Other All other signs FOR VEHICLES not falling into the above categories. Look especially
Liste Signs carefully for “No Parking” signs.
d (oth Not a catch all for signs that are blurry/hard to see
er
signs
not in
categ
ories
above
) ^if you have context to think these are parking signs, box as “all other signs.” If you
don’t have context, these are too blurry to box.
Signs NOT to box
DON’T label
signs that
have no
impact on
vehicles
(e.g. signs
for bicyclists
or trolleys,
advertiseme
nts, etc).
DON’T label
any
commercial
signs
DON’T label
signs that
portray
location i.e
21st
Avenue,
35th blvd,
etc
DON’T label
digital signs
that indicate
your speed
Examples
In this image, one of the ‘Other’ signs (Says Exit Only) is in the shadows. Please be sure to look closely at images
to locate any camouflaged or hard to see signs.
2 construction signs with the keywords ‘Road Closed’ which is related to construction. Notice how the bounding
box for the rightmost sign is not extended to estimate for occlusion

Pedestrian holding a ‘Construction’ sign

Be on the lookout for smaller ‘No Parking/Parking’ signs (usually in red text) on poles which are extremely
common in tasks that are based in the city. These parking signs are usually located directly next to the street
where cars would usually parallel park.
These signs should be annotated as ‘Other Signs’
The most common ‘No Parking’ sign has a red rectangle on the upper left corner (which looks like a red blob for
signs far into the distance) surrounded by a white background with red text which may list hours or might say ‘any
time’. Below are examples of hard to locate ‘No Parking’ signs:

Only box signs meant for car drivers!

Do not box
signs meant
for pedestri
ans
Do not box
signs meant
for bus
drivers

Do not box
other signs
not meant
for drivers