# Addressing Data Annotation Challenges in Multiple Sensors: A Solution for Scania Collected Datasets

arXiv: https://arxiv.org/abs/2403.18649 · HTML: https://mlsanity.com/paper/2403.18649/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 22 references that are in the map.
- First posted on arXiv 27 Mar 2024.

## Builds on (most cited first, 13 of 13)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [MotionLM: Multi-Agent Motion Forecasting as Language Modeling](https://mlsanity.com/paper/2309.16534/) (2023)
- [Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives](https://mlsanity.com/paper/2303.09824/) (2023)
- [Zenseact Open Dataset: A large-scale and diverse multimodal dataset for autonomous driving](https://mlsanity.com/paper/2305.02008/) (2023)
- [How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligence](https://mlsanity.com/paper/2305.01263/) (2023)
- [aiMotive Dataset: A Multimodal Dataset for Robust Autonomous Driving with Long-Range Perception](https://mlsanity.com/paper/2211.09445/) (2022)
- [Deep Learning for Visual Localization and Mapping: A Survey](https://mlsanity.com/paper/2308.14039/) (2023)
- [Semantic 3D Grid Maps for Autonomous Driving](https://mlsanity.com/paper/2211.01700/) (2022)

## Built on by (most cited first, 2 of 2)

- [HiMo: High-Speed Objects Motion Compensation in Point Clouds](https://mlsanity.com/paper/2503.00803/) (2025)
- [Correcting and Quantifying Systematic Errors in 3D Box Annotations for Autonomous Driving](https://mlsanity.com/paper/2601.14038/) (2026)

## Abstract (arXiv)

Data annotation in autonomous vehicles is a critical step in the development of Deep Neural Network (DNN) based models or the performance evaluation of the perception system. This often takes the form of adding 3D bounding boxes on time-sequential and registered series of point-sets captured from active sensors like Light Detection and Ranging (LiDAR) and Radio Detection and Ranging (RADAR). When annotating multiple active sensors, there is a need to motion compensate and translate the points to a consistent coordinate frame and timestamp respectively. However, highly dynamic objects pose a unique challenge, as they can appear at different timestamps in each sensor's data. Without knowing the speed of the objects, their position appears to be different in different sensor outputs. Thus, even after motion compensation, highly dynamic objects are not matched from multiple sensors in the same frame, and human annotators struggle to add unique bounding boxes that capture all objects. This article focuses on addressing this challenge, primarily within the context of Scania collected datasets. The proposed solution takes a track of an annotated object as input and uses the Moving Horizon Estimation (MHE) to robustly estimate its speed. The estimated speed profile is utilized to correct the position of the annotated box and add boxes to object clusters missed by the original annotation.