Robotics-Object-Pose-Estimation
PeopleSansPeople
Robotics-Object-Pose-Estimation | PeopleSansPeople | |
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2 | 5 | |
263 | 294 | |
4.2% | 2.4% | |
0.0 | 3.0 | |
about 2 years ago | about 2 months ago | |
Python | C# | |
Apache License 2.0 | Apache License 2.0 |
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Robotics-Object-Pose-Estimation
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Unity Robotics - Error Trying to Randomise Object Orientation
I'm trying to complete Part 2 of the Robotics Object Pose Estimation tutorial (https://github.com/Unity-Technologies/Robotics-Object-Pose-Estimation) and cannot get past Step 10 (Writing our Custom Object Rotation Randomizer) because I keep getting a "Tying to read value of type Dimension while reading a value of type CommaSeparator" error. Any advice on how to fix this? I have Unity 2021.3.3f1 installed on a Windows 10 machine.
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New Computer Vision-powered Object Pose Estimation Enhancement for Robotics Simulation - Demo & Tutorial
The tutorial provides a step-by-step guide covering:
PeopleSansPeople
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PI wants me to make a synthetic dataset.
Also, check this Unity repo out
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Generating human motion synthetic data ?
I was trying to train a model which goes on top of one of the pose estimation models(posenet, movenet, mediapipe) which detects the action performed(waving, swipe right, etc), and I was planning on generating synthetic data for it. I saw that there's a project for unity PeopleSansPeople, but it's not right to train a model for action recognition. I would like something that either simulates a human doing a simple action, to which I would be able to add randomness to it. I was thinking to either use Unity or maybe write something that would model the human keypoints(the output of pose estimation) and simulate them.. I am wondering if there already exists something that you guys might know about??
- [P] Can't finish my master's thesis. What to do?
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[R] PeopleSansPeople: Unity's Human-Centric Synthetic Data Generator. GitHub link in comments.
Source code: https://github.com/Unity-Technologies/PeopleSansPeople
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[R] PeopleSansPeople: Unity's Human-Centric Synthetic Data Generator
Webpage: https://unity-technologies.github.io/PeopleSansPeople/ Paper: https://arxiv.org/abs/2112.09290 Source code: https://github.com/Unity-Technologies/PeopleSansPeople Papers with code: https://paperswithcode.com/paper/peoplesanspeople-a-synthetic-data-generator https://paperswithcode.com/dataset/peoplesanspeople Demo video: https://youtu.be/mQ_DUdB70dc Summary: PeopleSansPeople is a human-centric data generator provided by Unity Technologies that contains highly-parametric and simulation-ready 3D human assets, parameterized lighting and camera system, parameterized environment generators, and fully-manipulable and extensible domain randomizers. PeopleSansPeople can generate RGB images with sub-pixel-perfect 2D/3D bounding box, COCO-compliant human keypoints, and semantic/instance segmentation masks in JSON annotation files. All packaged in macOS and Linux executable binaries capable of generating 1M+ datasets. In addition we release a template Unity environment for lowering the barrier of entry and getting you started with creating your own highly-parameterized human-centric synth data generator. We affectionately named our synthetic data generator PeopleSansPeople, as it is a data generator aimed at human-centric computer vision without using human data which bears serious privacy, safety, ethical, bias, and legal concerns. Benchmarks: The domain randomization we used for our benchmarks are naïve, brute-forced sweeps through the pre-chosen range of parameters; as such we end up generating psychedelic-looking scenes, which turned out to train more performant models for human-centric computer vision.Using PeopleSansPeople we benchmarked a Detectron2 Keypoint R-CNN variant. Results indicate synthetic pre-training with our data outperforms results of training on real data alone or pre-training with ImageNet, both in limited and abundant data regimes.We envisage that this freely-available data generator should enable a wide range of research into the emerging field of simulation to real transfer learning in the critical area of human-centric computer vision.
What are some alternatives?
Unity-Robotics-Hub - Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.
com.unity.perception - Perception toolkit for sim2real training and validation in Unity
openpifpaf - Official implementation of "OpenPifPaf: Composite Fields for Semantic Keypoint Detection and Spatio-Temporal Association" in PyTorch.
VirtualHumanBatchProcessing
AIKIDO - Artificial Intelligence for Kinematics, Dynamics, and Optimization
ml-agents - The Unity Machine Learning Agents Toolkit (ML-Agents) is an open-source project that enables games and simulations to serve as environments for training intelligent agents using deep reinforcement learning and imitation learning.
ROS-TCP-Endpoint - ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts
tdk-demo - This is a collection of TDK demo projects that use different databases and options
champ_setup_assistant - CHAMP Package Config Generator
ydata-synthetic - Synthetic data generators for tabular and time-series data
rbdl-orb - RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints
awesome-robotics-libraries - :sunglasses: A curated list of robotics libraries and software