6 classes to 21 classes including speed limits and direction arrows, which are essential classes for building navigation and HD maps. •Driveway: a new class that we’ve introduced to help enhance data extraction for last-mile •Barriers: increased from 6 to 11 classes. Detailed refinement of the barrier classes is the first step to enhance the perception capacity for autonomous driving under different scenarios. •Signages: the billboard class is now refined to advertisement, storefront, and general information signages. This facilitates automatic and in-depth location-aware data extraction for marketing, business, and point-of-interest analysis. •Traffic light states: dynamic properties are associated with static objects. In this case, we have refined 100K traffic light annotations with different state