Supplementary Material for Semantic Instance Annotation of Street Scenes by 3D to 2D Label Transfer

This supplementary material provides additional illustrations, visualizations and experiments. We start by showing the color coding and label mapping used for the semantic and instance label results in the paper. Then we provide more details about the 3D fold/curb detection and parameter settings that are used in the paper. Next, we provide additional quantitative and qualitative semi-dense inference results for both semantic and instance segmentation. Finally, we show the ability of our method to annotate 3D point clouds with semantic and instance labels which is a byproduct of our approach. 1. Color Coding We first illustrate the color coding which we have used for Fig. 1 and Fig. 5 in the main paper in Fig. 1. Road Driveway Sidewalk Terrain Vegetation Building Car Trailer Caravan Box Gate Wall Fence Sky Undefined (a) Color Coding of Semantic Labels. Road Driveway Sidewalk Terrain Vegetation Building Car Trailer Caravan Box Gate Wall Fence Sky Garage Truck Undefined (b) Color Coding of Instance Labels. Figure 1: Color Coding. Illustration of color coding used for Fig. 1 and Fig. 5 in the main paper.