# Annotation

## Criterion

The road structure cognition task is defined as inputting the surrounding view images, reconstructing the high-precision
map of the self-vehicle, and outputting the recognition result of the direction of the self-vehicle. The specific
expansion is to input the surrounding view images of the vehicle, HDMap; the output is the lane centerlines, the traffic
signs, the topology of the lane centerlines, and the correspondence between lanes centerlines and traffic signs. Below
are examples of visualizing annotations and relationships between different elements on 2D images.

![image](https://user-images.githubusercontent.com/47048022/209953048-f8ded0da-6005-45b7-8e3d-501dbd422058.png)
![image](https://user-images.githubusercontent.com/47048022/209954207-7b8a1b5a-8243-41d5-91fe-f2de5949107e.png)
