Towards Sim-to-Real Industrial Parts Classification with Synthetic Dataset

원문 초록

This paper is about effectively utilizing synthetic data for training deep neural networks for industrial parts classification, in particular, by taking into account the domain gap against real-world images. To this end, we introduce a synthetic dataset that may serve as a preliminary testbed for the Sim-to-Real challenge; it contains 17 objects of six industrial use cases, including isolated and assembled parts. A few subsets of objects exhibit large similarities in shape and albedo for reflecting challenging cases of industrial parts. All the sample images come with and without random backgrounds and post-processing for evaluating the importance of domain randomization. We call it Synthetic Industrial Parts dataset (SIP-17). We study the usefulness of SIP-17 through benchmarking the performance of five state-of-the-art deep network models, supervised and self-supervised, trained only on the synthetic data while testing them on real data. By analyzing the results, we deduce some insights on the feasibility and challenges of using synthetic data for industrial parts classification and for further developing larger-scale synthetic datasets. Our dataset and code are publicly available.