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Close the Optical Sensing Domain Gap by Physics-Grounded Active Stereo Sensor Simulation
Xiaoshuai Zhang,
Rui Chen,
Ang Li,
Fanbo Xiang,
Yuzhe Qin,
Jiayuan Gu,
Zhan Ling,
Minghua Liu,
Peiyu Zeng,
Songfang Han,
Zhiao Huang,
Tongzhou Mu,
Jing Xu,
Hao Su
T-RO, 2023
project page
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arXiv
We lower the sim-to-real gap of simulated depth and real active stereovision depth sensors, by
designing a fully physics-grounded pipeline. Perception and RL methods trained in simulation can
transfer well to the real world without any fine-tuning. It can also estimate the algorithm
performance in the real world, largely reducing human effort of algorithm evaluation.
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