Title:	Synthetic-Real Domain Adaptation for Probabilistic Pose Estimation
Authors:	Del-Tejo-Catala, Omar Perez, Javier Guardiola, Jose Perez, Alberto J. Perez-Cortes, Juan-Carlos
Citation:	WSCG 2023: full papers proceedings: 1. International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision, p. 127-136.
Issue Date:	2023
Publisher:	Václav Skala - UNION Agency
Document type:	konferenční příspěvek conferenceObject
URI:	http://hdl.handle.net/11025/54418
ISBN:	978-80-86943-32-9
ISSN:	2464–4617 (print) 2464–4625 (CD/DVD)
Keywords:	odhad pozice;CycleGAN;obraz od obrazu;graf neuronových sítí;UNet;adaptace domény;CUT;Symmetry Robust Pose Estimation
Keywords in different language:	pose estimation;CycleGAN;image-to-image;Graph Neural Networks;UNet;domain adaptation;CUT;Symmetry Robust Pose Estimation
Abstract in different language:	Real samples are costly to acquire in many real-world problems. Thus, employing synthetic samples is usually the primary solution to train models that require large amounts of data. However, the difference between synthetically generated and real images, called domain gap, is the most significant hindrance to this solution, as it affects the model’s generalization capacity. Domain adaptation techniques are crucial to train models using synthetic samples. Thus, this article explores different domain adaptation techniques to perform pose estimation from a probabilistic multiview perspective. Probabilistic multiview pose estimation solves the problem of object symmetries, where a single view of an object might not be able to determine the 6D pose of an object, and it must consider its prediction as a distribution of possible candidates. GANs are currently state-of-the-art in domain adaptation. In particular, this paper explores CUT and CycleGAN, which have unique training losses that address the problem of domain adaptation from different perspectives. This work evaluates a patch-wise variation of the CycleGAN to keep local information in the same place. The datasets explored are a cylinder and a sphere extracted from a Kaggle challenge with perspective-wise symmetries, although they holistically have unique 6D poses. One of the main findings is that probabilistic pose estimation, trained with synthetic samples, cannot be solved without addressing domain gap between synthetic and real samples. CUT outperforms CycleGAN in feature adaptation, although it is less robust than CycleGAN in keeping keypoints intact after translation, leading to pose prediction errors for some objects. Moreover, this paper found that training the models using synthetic-to-real images and evaluating them with real images improves the model’s accuracy for datasets without complex features. This approach is more suitable for industrial applications to reduce inference overhead.
Rights:	© Václav Skala - UNION Agency
Appears in Collections:	WSCG 2023: Full Papers Proceedings

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