相关论文: Close the Sim2real Gap via Physically-based Struct…

Synthesizing a densely sampled light field from a single image is highly beneficial for many applications. The conventional method reconstructs a depth map and relies on physical-based rendering and a secondary network to improve the…

Deep learning is expected to offer new opportunities and a new paradigm for the field of architecture. One such opportunity is teaching neural networks to visually understand architectural elements from the built environment. However, the…

Synthetic image datasets offer unmatched advantages for designing and evaluating deep neural networks: they make it possible to (i) render as many data samples as needed, (ii) precisely control each scene and yield granular ground truth…

Simultaneous Localization and Mapping (SLAM) has become a critical technology for intelligent transportation systems and autonomous robots and is widely used in autonomous driving. However, traditional manual feature-based methods in…

This paper addresses a new strategy called Simulation-to-Real-to-Simulation (Sim2Real2Sim) to bridge the gap between simulation and real-world, and automate a flexible object manipulation task. This strategy consists of three steps: (1)…

Training learning-based deblurring methods demands a tremendous amount of blurred and sharp image pairs. Unfortunately, existing synthetic datasets are not realistic enough, and deblurring models trained on them cannot handle real blurred…

Deep learning approaches require enough training samples to perform well, but it is a challenge to collect enough real training data and label them manually. In this letter, we propose the use of realistic synthetic data with a wide…

Vision-aided wireless sensing is emerging as a cornerstone of 6G mobile computing. While data-driven approaches have advanced rapidly, establishing a precise geometric correspondence between ego-centric visual data and radio propagation…

Reconstructing low-dimensional truth labels from high-dimensional experimental data is a central challenge in any scenario that relies on robust mappings across this so-called domain gap, from multi-particle final states in high-energy…

Real-world data collection for robotics is costly and resource-intensive, requiring skilled operators and expensive hardware. Simulations offer a scalable alternative but often fail to achieve sim-to-real generalization due to geometric and…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

In industrial manufacturing, deploying deep learning models for visual inspection is mostly hindered by the high and often intractable cost of collecting and annotating large-scale training datasets. While image synthesis from 3D CAD models…

Physically-based rendering (PBR) is key for immersive rendering effects used widely in the industry to showcase detailed realistic scenes from computer graphics assets. A well-known caveat is that producing the same is computationally heavy…

Realistic synthetic image data rendered from 3D models can be used to augment image sets and train image classification semantic segmentation models. In this work, we explore how high quality physically-based rendering and domain…

Commercial depth sensors usually generate noisy and missing depths, especially on specular and transparent objects, which poses critical issues to downstream depth or point cloud-based tasks. To mitigate this problem, we propose a powerful…

Accurate physics simulation is essential for robotic learning and control, yet analytical simulators often fail to capture complex contact dynamics, while learning-based simulators typically require large amounts of costly real-world data.…

In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…

Modern deep learning models in computer vision require large datasets of real images, which are difficult to curate and pose privacy and legal concerns, limiting their commercial use. Recent works suggest synthetic data as an alternative,…

We introduce BIDCD -- the Bosch Industrial Depth Completion Dataset. BIDCD is a new RGBD dataset of metallic industrial objects, collected with a depth camera mounted on a robotic manipulator. The main purpose of this dataset is to…

Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…