Transfer Learning for Machine Learning-based Detection and Separation of Entanglements in Bin-Picking Applications
Marius Moosmann,Felix Spenrath,Johannes Rosport,Philipp Melzer,Werner Kraus,Richard Bormann,Marco F. Huber,Marius Moosmann,Felix Spenrath,Johannes Rosport,Philipp Melzer,Werner Kraus,Richard Bormann,Marco F. Huber
In this paper, we present a Domain Randomization and a Domain Adaptation approach to transfer experience for entanglement detection and separation from simulation into a real-world bin-picking application. We investigate the influence of different randomization options in image processing and use a CycleGAN as a further Domain Adaptation method to synthesize simulation data as realistically as pos...
