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The package sim spawns packages on a floor and takes images from a varying camera viewpoint. Boxes are individually segmented, and the resulting dataset is used for object detection.

Example synthetic images from package sim.


We trained a CNN on synthetic data produced by this sim. Below are images showing predictions from this network:

Results from model trained on package sim dataset.


You can find the full blog post for this project here.


The code for this example can be found here.