Method for automatically labeling objects in past frames based on object detection of a current frame for autonomous driving

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• receiving a list of images captured in a chronological order, wherein each of the images was captured by a sensor mounted on an autonomous driving vehicle (ADV) while driving through a driving environment;
• identifying a first image of the images that includes a first object in a first dimension detected and recognized by an object detector based on the first image using an object detection algorithm;
• and
• in response to the identified first object,
• traversing the images in the list backwardly in time to identify a second image that includes a second object in a second dimension based on a moving trail of the ADV represented by the list of images, and
• labeling the second object in the second image equivalent to the first object in the first image, wherein the list of images having the labeled second image is utilized for a subsequent object detection during autonomous driving.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including
• receiving a list of images captured in a chronological order, wherein each of the images was captured by a sensor mounted on an autonomous driving vehicle (ADV) while driving through a driving environment;
• identifying a first image of the images that includes a first object in a first dimension detected and recognized by an object detector based on the first image using an object detection algorithm;
• and
• in response to the identified first object,
• traversing the images in the list backwardly in time to identify a second image that includes a second object in a second dimension based on a moving trail of the ADV represented by the list of images, and
• labeling the second object in the second image equivalent to the first object in the first image, wherein the list of images having the labeled second image is utilized for a subsequent object detection during autonomous driving.