WAY TO GENERATE TIGHT 2D BOUNDING BOXES FOR AUTONOMOUS DRIVING LABELING

A method, apparatus, and system for generating tight two-dimensional (2D) bounding boxes for visible objects in a three-dimensional (3D) scene is disclosed. A two-dimensional (2D) segmentation image of a three-dimensional (3D) scene comprising one or more objects is generated by rendering the 3D scene with a segmentation camera. Each of the objects is rendered in a single respective different color. Next, one or more visible objects in the 3D scene are identified among the one or more objects based on the segmentation image. Next, a 2D amodal segmentation image for each of the visible objects in the 3D scene is generated separately. Each amodal segmentation image comprises only the single visible object for which it is generated. Thereafter, a 2D bounding box is generated for each of the visible objects in the 3D scene based on the amodal segmentation image for the visible object.