displaying point clouds, wherein the point clouds comprise a plurality of three-dimensional points;

interactively receiving designation of a first three-dimensional point of the plurality of three-dimensional points and a second three-dimensional point of the plurality of three-dimensional points, wherein the first three-dimensional point indicates an annotation target object and represents a positive example, and the second three-dimensional point excludes indication of the annotation target object and represents a negative example;

generating a plurality of point cloud clusters in the point clouds;

determining a value of a predetermined evaluation function of a point cloud cluster of the plurality of point cloud clusters, wherein the value of the predetermined evaluation function indicates a likelihood of a point cloud cluster being the annotation target object, based on the first three-dimensional point as the positive example and the second three-dimensional point as the negative example;

causing an interface processor to display the plurality of point cloud clusters in descending order of the value of the predetermined evaluation function;

interactively receiving a selection of the point cloud cluster of the plurality of point cloud clusters to be annotated; and

executing an annotation indicating the annotation target object for each three-dimensional point included in the point cloud cluster.