The translated data: MS3D is an automatic annotation tool designed for 3D object detection in point cloud sequences. It integrates multiple expert models and temporal optimization to generate high-quality labels suitable for lidars of various densities. This tool can improve the failure rate of 3D detectors and offers the KBF (Kalman Box Filter) method for detector integration in supervised environments. The open-source nature of this tool will promote the application of 3D detection technology in a wider range of scenarios and environments.