mlsanityData to 7 Oct 2026

3D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streams

arXiv 1905.00525 ↗First posted 1 May 2019cs.CVcited by 35

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Abstract (arXiv)

In this paper, we focus on obtaining 2D and 3D labels, as well as track IDs for objects on the road with the help of a novel 3D Bounding Box Annotation Toolbox (3D BAT). Our open source, web-based 3D BAT incorporates several smart features to improve usability and efficiency. For instance, this annotation toolbox supports semi-automatic labeling of tracks using interpolation, which is vital for downstream tasks like tracking, motion planning and motion prediction. Moreover, annotations for all camera images are automatically obtained by projecting annotations from 3D space into the image domain. In addition to the raw image and point cloud feeds, a Masterview consisting of the top view (bird's-eye-view), side view and front views is made available to observe objects of interest from different perspectives. Comparisons of our method with other publicly available annotation tools reveal that 3D annotations can be obtained faster and more efficiently by using our toolbox.

Key facts. Cited by 35 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 May 2019.

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Citing papers per year: 2021: 2; 2022: 5; 2023: 12; 2024: 8; 2025: 5; 2026: 3.

35 papers.

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  1. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  2. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  3. 2022A9-Dataset: Multi-Sensor Infrastructure-Based Dataset for Mobility Researchcited by 40
  4. 2023InfraDet3D: Multi-Modal 3D Object Detection based on Roadside Infrastructure Camera and LiDAR Sensorscited by 25
  5. 2024The Why, When, and How to Use Active Learning in Large-Data-Driven 3D Object Detection for Safe Autonomous Driving: An Empirical Explorationcited by 17
  6. 2024ActiveAnno3D -- An Active Learning Framework for Multi-Modal 3D Object Detectioncited by 17
  7. 2022Box2Seg: Learning Semantics of 3D Point Clouds with Box-Level Supervisioncited by 11
  8. 2021SALT: A Semi-automatic Labeling Tool for RGB-D Video Sequencescited by 10
  9. 2022A Survey of Robust 3D Object Detection Methods in Point Cloudscited by 10
  10. 2022Real-Time and Robust 3D Object Detection Within Road-Side LiDARs Using Domain Adaptationcited by 10
  11. 2022Real-Time And Robust 3D Object Detection with Roadside LiDARscited by 9
  12. 2023Pedestrian Behavior Maps for Safety Advisories: CHAMP Framework and Real-World Data Analysiscited by 9
23 more
  1. 2023Multi-Task Consistency for Active Learningcited by 9
  2. 2023PanopticNeRF-360: Panoramic 3D-to-2D Label Transfer in Urban Scenescited by 9
  3. 2021labelCloud: A Lightweight Domain-Independent Labeling Tool for 3D Object Detection in Point Cloudscited by 8
  4. 2023An Efficient Semi-Automated Scheme for Infrastructure LiDAR Annotationcited by 7
  5. 2023A Flexible Multi-view Multi-modal Imaging System for Outdoor Scenescited by 4
  6. 2023ReBound: An Open-Source 3D Bounding Box Annotation Tool for Active Learningcited by 4
  7. 2023A9 Intersection Dataset: All You Need for Urban 3D Camera-LiDAR Roadside Perceptioncited by 4
  8. 2025MetAdv: A Unified and Interactive Adversarial Testing Platform for Autonomous Drivingcited by 3
  9. 2023NeuralLabeling: A versatile toolset for labeling vision datasets using Neural Radiance Fieldscited by 2
  10. 2024SeePerSea: Multi-modal Perception Dataset of In-water Objects for Autonomous Surface Vehiclescited by 2
  11. 2024PointCompress3D: A Point Cloud Compression Framework for Roadside LiDARs in Intelligent Transportation Systemscited by 2
  12. 2024Perception Without Vision for Trajectory Prediction: Ego Vehicle Dynamics as Scene Representation for Efficient Active Learning in Autonomous Drivingcited by 2
  13. 2024Transfer Learning from Simulated to Real Scenes for Monocular 3D Object Detectioncited by 2
  14. 2025Towards Vision Zero: The TUM Traffic Accid3nD Datasetcited by 2
  15. 2025Automated Data Curation Using GPS & NLP to Generate Instruction-Action Pairs for Autonomous Vehicle Vision-Language Navigation Datasetscited by 2
  16. 2023PALF: Pre-Annotation and Camera-LiDAR Late Fusion for the Easy Annotation of Point Cloudscited by 1
  17. 2023Patterns of Vehicle Lights: Addressing Complexities in Curation and Annotation of Camera-Based Vehicle Light Datasets and Metricscited by 1
  18. 2025Enhancing Highway Safety: Accident Detection on the A9 Test Stretch Using Roadside Sensorscited by 1
  19. 2025Safety-Critical Learning for Long-Tail Events: The TUM Traffic Accident Datasetcited by 1
  20. 2023RecolorCloud: A Point Cloud Tool for Recoloring, Segmentation, and Conversioncited by 0
  21. 2026Viewpoint Recommendation for Point Cloud Labeling through Interaction Cost Modelingcited by 0
  22. 2026DisPOSE: Projected Polystochastic Diffusion for Self-Supervised Multi-View 3D Human Pose Estimationcited by 0
  23. 2026ARGUSTRACK: A Multi-View Annotation System for Multi-Object Trackingcited by 0