相关论文: Domain Randomization for Scene-Specific Car Detect…

We present a system for training deep neural networks for object detection using synthetic images. To handle the variability in real-world data, the system relies upon the technique of domain randomization, in which the parameters of the…

Recent advances in deep learning-based object detection techniques have revolutionized their applicability in several fields. However, since these methods rely on unwieldy and large amounts of data, a common practice is to download models…

Recently, the use of synthetic datasets based on game engines has been shown to improve the performance of several tasks in computer vision. However, these datasets are typically only appropriate for the specific domains depicted in…

While developing perception based deep learning models, the benefit of synthetic data is enormous. However, performance of networks trained with synthetic data for certain computer vision tasks degrade significantly when tested on real…

Synthetic data is being used lately for training deep neural networks in computer vision applications such as object detection, object segmentation and 6D object pose estimation. Domain randomization hereby plays an important role in…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

Driving scene parsing is critical for autonomous vehicles to operate reliably in complex real-world traffic environments. To reduce the reliance on costly pixel-level annotations, synthetic datasets with automatically generated labels have…

This paper addresses key aspects of domain randomization in generating synthetic data for manufacturing object detection applications. To this end, we present a comprehensive data generation pipeline that reflects different factors: object…

We present structured domain randomization (SDR), a variant of domain randomization (DR) that takes into account the structure and context of the scene. In contrast to DR, which places objects and distractors randomly according to a uniform…

This article aims to use graphic engines to simulate a large number of training data that have free annotations and possibly strongly resemble to real-world data. Between synthetic and real, a two-level domain gap exists, involving content…

We propose to harness the potential of simulation for the semantic segmentation of real-world self-driving scenes in a domain generalization fashion. The segmentation network is trained without any data of target domains and tested on the…

Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately.…

Synthetic data is a scalable alternative to manual supervision, but it requires overcoming the sim-to-real domain gap. This discrepancy between virtual and real worlds is addressed by two seemingly opposed approaches: improving the realism…

In this work, we present an application of domain randomization and generative adversarial networks (GAN) to train a near real-time object detector for industrial electric parts, entirely in a simulated environment. Large scale availability…

Bridging the 'reality gap' that separates simulated robotics from experiments on hardware could accelerate robotic research through improved data availability. This paper explores domain randomization, a simple technique for training models…

As synthetic imagery is used more frequently in training deep models, it is important to understand how different synthesis techniques impact the performance of such models. In this work, we perform a thorough evaluation of the…

Image synthesis driven by computer graphics achieved recently a remarkable realism, yet synthetic image data generated this way reveals a significant domain gap with respect to real-world data. This is especially true in autonomous driving…

This paper introduces a novel synthetic dataset that captures urban scenes under a variety of weather conditions, providing pixel-perfect, ground-truth-aligned images to facilitate effective feature alignment across domains. Additionally,…

This study uses domain randomization to generate a synthetic RGB-D dataset for training multimodal instance segmentation models, aiming to achieve colour-agnostic hand localization in cluttered industrial environments. Domain randomization…

Training a deep network to perform semantic segmentation requires large amounts of labeled data. To alleviate the manual effort of annotating real images, researchers have investigated the use of synthetic data, which can be labeled…