In one embodiment, a system for associating LiDAR points with objects is provided. Objects in an image are identified and bounding boxes are placed on each object in the image. LiDAR points are received and are projected into the image based on a reference frame of the image. All pixels of the image that are not inside a bounding box are changed to a color such as black. All points that are inside a bounding box are changed to a color that is unique to the particular bounding box. To determine which LiDAR points are associated with the objects in the image, for each LiDAR point a color of the pixel having the same coordinates in the image as the LiDAR point is determined. If the determined color is black than the LiDAR point is not associated with any object. Else, the LiDAR point is located in the bounding box that uses the determined color, and the LiDAR point can be labeled as being located with the object corresponding to the bounding box.