Deep Learning has seen an unprecedented increase in vision applications since the publication of large-scale object recognition datasets and introduction of scalable compute hardware. State-of-the-art methods for most vision tasks for Autonomous Vehicles (AVs) rely on supervised learning and often fail to generalize to domain shifts and/or outliers. Dataset diversity is thus key to successful real-world deployment. No matter how big the size of the dataset, capturing long tails of the distribution pertaining to task-specific environmental factors is impractical. The goal of this paper is to investigate the use of targeted synthetic data augmentation - combining the benefits of gaming engine simulations and sim2real style transfer techniques - for filling gaps in real datasets for vision tasks. Empirical studies on three different computer vision tasks of practical use to AVs - parking slot detection, lane detection and monocular depth estimation - consistently show that having synthetic data in the training mix provides a significant boost in cross-dataset generalization performance as compared to training on real data only, for the same size of the training set.

本文探讨使用有针对性的合成数据增强-结合游戏引擎模拟和sim2real风格转移技术-填补视觉任务的真实数据集中的空缺。在三种不同的计算机视觉任务中（停车位检测，车道检测和单ocular深度估计），实证研究一致表明，将合成数据与真实数据混合训练能够显著提高交叉数据集的泛化性能。

使用合成数据增广消除数据集偏差