HaDR: Applying Domain Randomization for Generating Synthetic Multimodal Dataset for Hand Instance Segmentation in Cluttered Industrial Environments
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arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| _version_ | 1866918346162700288 |
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| author | Grushko, Stefan Vysocký, Aleš Chlebek, Jakub Prokop, Petr |
| author_facet | Grushko, Stefan Vysocký, Aleš Chlebek, Jakub Prokop, Petr |
| contents | 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 is a simple technique for addressing the "reality gap" by randomly rendering unrealistic features in a simulation scene to force the neural network to learn essential domain features. We provide a new synthetic dataset for various hand detection applications in industrial environments, as well as ready-to-use pretrained instance segmentation models. To achieve robust results in a complex unstructured environment, we use multimodal input that includes both colour and depth information, which we hypothesize helps to improve the accuracy of the model prediction. In order to test this assumption, we analyze the influence of each modality and their synergy. The evaluated models were trained solely on our synthetic dataset; yet we show that our approach enables the models to outperform corresponding models trained on existing state-of-the-art datasets in terms of Average Precision and Probability-based Detection Quality. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2304_05826 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | HaDR: Applying Domain Randomization for Generating Synthetic Multimodal Dataset for Hand Instance Segmentation in Cluttered Industrial Environments Grushko, Stefan Vysocký, Aleš Chlebek, Jakub Prokop, Petr Human-Computer Interaction Computer Vision and Pattern Recognition 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 is a simple technique for addressing the "reality gap" by randomly rendering unrealistic features in a simulation scene to force the neural network to learn essential domain features. We provide a new synthetic dataset for various hand detection applications in industrial environments, as well as ready-to-use pretrained instance segmentation models. To achieve robust results in a complex unstructured environment, we use multimodal input that includes both colour and depth information, which we hypothesize helps to improve the accuracy of the model prediction. In order to test this assumption, we analyze the influence of each modality and their synergy. The evaluated models were trained solely on our synthetic dataset; yet we show that our approach enables the models to outperform corresponding models trained on existing state-of-the-art datasets in terms of Average Precision and Probability-based Detection Quality. |
| title | HaDR: Applying Domain Randomization for Generating Synthetic Multimodal Dataset for Hand Instance Segmentation in Cluttered Industrial Environments |
| topic | Human-Computer Interaction Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2304.05826 |