| 1. Identity statement | ||||
| Reference Type | Conference Paper (Conference Proceedings) | |||
| Site | sibgrapi.sid.inpe.br | |||
| Holder Code | ibi 8JMKD3MGPEW34M/46T9EHH | |||
| Identifier | 8JMKD3MGPEW34M/43BG2TB | |||
| Repository | sid.inpe.br/sibgrapi/2020/09.30.16.45 | |||
| Last Update | 2020:09.30.16.45.08 (UTC) administrator | |||
| Metadata Repository | sid.inpe.br/sibgrapi/2020/09.30.16.45.08 | |||
| Metadata Last Update | 2022:06.14.00.00.15 (UTC) administrator | |||
| DOI | 10.1109/SIBGRAPI51738.2020.00052 | |||
| Citation Key | BatistadaCunhaSanValMagTei:2020:StImDo | |||
| Title | A Study on the Impact of Domain Randomization for Monocular Deep 6DoF Pose Estimation  | |||
| Format | On-line | |||
| Year | 2020 | |||
| Access Date | 2024, Apr. 25 | |||
| Number of Files | 1 | |||
| Size | 9047 KiB | |||
| 2. Context | ||||
| Author | 1 Batista da Cunha, Kelvin 2 dos Santos Brito, Caio José 3 Valença da Rocha Martins Albuquerque, Lucas 4 Magalhães Simões, Francisco Paulo 5 Teichrieb, Veronica | |||
| Affiliation | 1 Voxar Labs, Centro de Informática, Universidade Federal de Pernambuco 2 Voxar Labs, Centro de Informática, Universidade Federal de Pernambuco 3 Voxar Labs, Centro de Informática, Universidade Federal de Pernambuco 4 Curso Técnico em Informática para Internet, Instituto Federal de Pernambuco, Campus Belo Jardim 5 Voxar Labs, Centro de Informática, Universidade Federal de Pernambuco | |||
| Editor | Musse, Soraia Raupp Cesar Junior, Roberto Marcondes Pelechano, Nuria Wang, Zhangyang (Atlas) | |||
| e-Mail Address | kbc@cin.ufpe.br | |||
| Conference Name | Conference on Graphics, Patterns and Images, 33 (SIBGRAPI) | |||
| Conference Location | Porto de Galinhas (virtual) | |||
| Date | 7-10 Nov. 2020 | |||
| Publisher | IEEE Computer Society | |||
| Publisher City | Los Alamitos | |||
| Book Title | Proceedings | |||
| Tertiary Type | Full Paper | |||
| History (UTC) | 2020-09-30 16:45:08 :: kbc@cin.ufpe.br -> administrator :: 2022-06-14 00:00:15 :: administrator -> kbc@cin.ufpe.br :: 2020 | |||
| 3. Content and structure | ||||
| Is the master or a copy? | is the master | |||
| Content Stage | completed | |||
| Transferable | 1 | |||
| Version Type | finaldraft | |||
| Keywords | Pose Estimation Deep Learning Domain Randomization | |||
| Abstract | In this work, we apply domain randomization to synthetic images and train deep 6DoF monocular RGB pose estimation models to work on a real object. We compare 19 models trained with different combinations of synthetic and real data (fully synthetic, fully real, initially synthetic and supplemented with real, and a real-synthetic randomized mix). By gradually decreasing the amount of real data used, we show it is possible for deep 6DoF detection to obtain superior results while using less real data (which is harder to obtain) and suggest the best approach to train a model with synthetic data. Our method is validated using a textureless 3D printed object, as the textureless category is a challenging, common open problem in itself. A real and a synthetic dataset generated for this work, totalling over 24,800 annotated frames, are also made public. We also show that synthetic, randomized data can help generalize a model by training it to handle challenges such as illumination changes and fast motion. Finally, we also evaluate how a model trained for one camera sensor works with a different one, and show that synthetic simulations of real cameras can help overcoming this challenge. | |||
| Arrangement 1 | urlib.net > SDLA > Fonds > SIBGRAPI 2020 > A Study on... | |||
| Arrangement 2 | urlib.net > SDLA > Fonds > Full Index > A Study on... | |||
| doc Directory Content | access | |||
| source Directory Content | there are no files | |||
| agreement Directory Content |
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| 4. Conditions of access and use | ||||
| data URL | http://urlib.net/ibi/8JMKD3MGPEW34M/43BG2TB | |||
| zipped data URL | http://urlib.net/zip/8JMKD3MGPEW34M/43BG2TB | |||
| Language | en | |||
| Target File | 108.pdf | |||
| User Group | kbc@cin.ufpe.br | |||
| Visibility | shown | |||
| Update Permission | not transferred | |||
| 5. Allied materials | ||||
| Mirror Repository | sid.inpe.br/banon/2001/03.30.15.38.24 | |||
| Next Higher Units | 8JMKD3MGPEW34M/43G4L9S 8JMKD3MGPEW34M/4742MCS | |||
| Citing Item List | sid.inpe.br/sibgrapi/2020/10.28.20.46 4 sid.inpe.br/sibgrapi/2022/06.10.21.49 1 | |||
| Host Collection | sid.inpe.br/banon/2001/03.30.15.38 | |||
| 6. Notes | ||||
| Empty Fields | archivingpolicy archivist area callnumber contenttype copyholder copyright creatorhistory descriptionlevel dissemination edition electronicmailaddress group isbn issn label lineage mark nextedition notes numberofvolumes orcid organization pages parameterlist parentrepositories previousedition previouslowerunit progress project readergroup readpermission resumeid rightsholder schedulinginformation secondarydate secondarykey secondarymark secondarytype serieseditor session shorttitle sponsor subject tertiarymark type url volume | |||
| 7. Description control | ||||
| e-Mail (login) | kbc@cin.ufpe.br | |||
| update | ||||