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Towards sim-to-real industrial parts classification with synthetic dataset
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. Scania CV AB, Scania Cv Ab.ORCID iD: 0000-0002-4180-3809
Scania CV AB, Scania Cv Ab.
Scania CV AB, Scania Cv Ab.
University of Skövde, University of Skövde.
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2023 (English)In: Proceedings: 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2023, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 4454-4463Conference paper, Published paper (Refereed)
Abstract [en]

This paper is about effectively utilizing synthetic data for training deep neural networks for industrial parts classification, in particular, by taking into account the domain gap against real-world images. To this end, we introduce a synthetic dataset that may serve as a preliminary testbed for the Sim-to-Real challenge; it contains 17 objects of six industrial use cases, including isolated and assembled parts. A few subsets of objects exhibit large similarities in shape and albedo for reflecting challenging cases of industrial parts. All the sample images come with and without random backgrounds and post-processing for evaluating the importance of domain randomization. We call it Synthetic Industrial Parts dataset (SIP-17). We study the usefulness of SIP-17 through benchmarking the performance of five state-of-the-art deep network models, supervised and self-supervised, trained only on the synthetic data while testing them on real data. By analyzing the results, we deduce some insights on the feasibility and challenges of using synthetic data for industrial parts classification and for further developing larger-scale synthetic datasets. Our dataset † and code ‡ are publicly available.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2023. p. 4454-4463
National Category
Computer graphics and computer vision
Identifiers
URN: urn:nbn:se:kth:diva-337847DOI: 10.1109/CVPRW59228.2023.00468Scopus ID: 2-s2.0-85170821045OAI: oai:DiVA.org:kth-337847DiVA, id: diva2:1803769
Conference
2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2023, Vancouver, Canada, Jun 18 2023 - Jun 22 2023
Note

Part of ISBN 9798350302493

QC 20231010

Available from: 2023-10-10 Created: 2023-10-10 Last updated: 2025-02-07Bibliographically approved

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Zhu, XiaomengBjörkman, MårtenMaki, Atsuto

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