Sim2Real image translation to improve a synthetic dataset for a bin picking task

摘要

The use of synthetic data is a promising solution to the problem of the availability of real data needed for the development of robotic systems. However, the precision of the systems trained on synthetic data tends to decrease when they are deployed in the real-life scenarios, which happens due to the disparities between the artificial data and the real world. Therefore, efficient methods for Sim2Real translation are much needed for further progress in robotics. In our study, we use Generative Adversarial Networks (GANs) to generate more photorealistic data from the synthetic data created for training deep neural networks to handle a bin picking task. As a result, object detectors trained on the images improved with the GANs with the optimal approach to image translation demonstrate better performance than their counterparts trained on the original synthetic data.