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arXiv 2004.13681cs.CV
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Style-transfer GANs for bridging the domain gap in synthetic pose estimator training

Fraunhofer IGD(弗劳恩霍夫计算机图形学研究所);TU Darmstadt(达姆施塔特工业大学)

Pavel Rojtberg, Thomas Pöllabauer, Arjan Kuijper

英文摘要:

Given the dependency of current CNN architectures on a large training set, the possibility of using synthetic data is alluring as it allows generating a virtually infinite amount of labeled training data. However, producing such data is a non-trivial task as current CNN architectures are sensitive to the domain gap between real and synthetic data. We propose to adopt general-purpose GAN models for pixel-level image translation, allowing to formulate the domain gap itself as a learning problem. The obtained models are then used either during training or inference to bridge the domain gap. Here, we focus on training the single-stage YOLO6D object pose estimator on synthetic CAD geometry only, where not even approximate surface information is available. When employing paired GAN models, we use an edge-based intermediate domain and introduce different mappings to represent the unknown surface properties. Our evaluation shows a considerable improvement in model performance when compared to a model trained with the same degree of domain randomization, while requiring only very little additional effort.

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