Close the Sim2real Gap via Physically-based Structured Light Synthetic Data Simulation

Keywords: Structured-light Simulation; Data Generation for Perception; Sim2Real

Github

Video

Physically-based Scene Generation

Pipeline of Synthetic Data Generation and 3D Reconstruction

Physically-based Scene Generation

Projection Simulation

Synthetic Data

Synthetic Depth Image

Synthetic RGB Image

Segmentation Label Map

Inference Results of Industrial Component

√ Depth Image

× RGB Image

√ Depth Image

× RGB Image

Inference Results of HygieneSpray from KIT Dataset

√ Depth Image

× RGB Image

√ Depth Image

× RGB Image

Inference Results of ToothPaste from KIT Dataset

√ Depth Image

× RGB Image

√ Depth Image

× RGB Image

Dataset

The dataset will be available soon.

Bibtex

@INPROCEEDINGS{inproceedings,
    author={author},
    booktitle={},
    title={title},
    year={2022},
    volume={},
    number={},
    pages={1-8},
    doi={doi}}
}