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Drivable Area Data Annotation in self-driving Case Study

Autonomous vehicles rely on a clear understanding of the drivable areas in order to navigate safely and efficiently. This includes the identification of structured, semi-structured, and unstructured road surfaces.

A drivable area data annotation case can help define the current drivable area, which includes various lane types, and the areas that are not drivable, such as the opposite lane with an isolation belt.

Additionally, features like buffer zones, stop lines, isolation belts, walkways, and crosswalks must be accurately labeled to ensure the vehicle’s ability to recognize and respond to its surroundings. These areas are independent and do not overlap.

The drivable area of vehicles includes structured road surfaces, semi-structured road surfaces,s and unstructured road surfaces.

The structured road surface generally has the edge line, with simple road surface structures such as urban trunk roads, and highways. Certain standards are applied with united surface layer color and materials.

Semi-structured road surface refers to the general non-standardized road surface with distinct colors and materials, such as parking lots, plazas, and some branch roads.

The unstructured road surface is a natural road scenario with no structural layer.

Now let’s have a look at a Drivable Area Data Annotation case.

Drivable area

  • Current drivable area

The drivable area includes the same direction lane that is not covered by objects, the reverse lane without an isolation belt, the bicycle lane without an isolation belt, the side road lane, the emergency lane, the emergency parking belt, etc. The buffer zone is not included.

  • Road areas that are not drivable

The visible road surface in the image excludes the current drivable area, such as the opposite lane with an isolation belt in the middle, the side road with an isolation belt, the bicycle lane, the shop gate, the asphalt road, the entrance of the main road and the entrance of the side road.

  • Buffer Zone

Label the buffer zone with a polygon, do not label the occluded part, and do not label the outer white lane.

  • Stop line

Often used at intersections, entrances, and exits. Do not label the occluded part.

  • Isolation Belt

The isolation belt is always equipped with a guardrail, mesh, and iron guardrail. In the middle of the road, there is a green isolation belt with plants. In the case of no guardrail, do not label green plants.

  • Walkway

An area slightly higher than the road surface, usually on both sides of a road, that is used by pedestrians but not by motor vehicles. There are brick roads and paths for the blind. Paths that people can walk on are walkways.

  • Crosswalk

Label the crosswalk with polygons, excluding the occluded part.

If there is a disconnection in the middle from this end of the road to the other end, they need to be completed if the zebra crossing and stop line can be predicted as being there.

The above seven areas are independent, with no overlapping parts.


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