Synthetic Data-Based Detection of Zebras in Drone Imagery

2023

Conference Paper

ps

Nowadays, there is a wide availability of datasets that enable the training of common object detectors or human detectors. These come in the form of labelled real-world images and require either a significant amount of human effort, with a high probability of errors such as missing labels, or very constrained scenarios, e.g. VICON systems. On the other hand, uncommon scenarios, like aerial views, animals, like wild zebras, or difficult-to-obtain information, such as human shapes, are hardly available. To overcome this, synthetic data generation with realistic rendering technologies has recently gained traction and advanced research areas such as target tracking and human pose estimation. However, subjects such as wild animals are still usually not well represented in such datasets. In this work, we first show that a pre-trained YOLO detector can not identify zebras in real images recorded from aerial viewpoints. To solve this, we present an approach for training an animal detector using only synthetic data. We start by generating a novel synthetic zebra dataset using GRADE, a state-of-the-art framework for data generation. The dataset includes RGB, depth, skeletal joint locations, pose, shape and instance segmentations for each subject. We use this to train a YOLO detector from scratch. Through extensive evaluations of our model with real-world data from i) limited datasets available on the internet and ii) a new one collected and manually labelled by us, we show that we can detect zebras by using only synthetic data during training. The code, results, trained models, and both the generated and training data are provided as open-source at https://eliabntt.github.io/grade-rr.

@conference{bonetto2023ECMRZebras,
  title = {Synthetic Data-Based Detection of Zebras in Drone Imagery},
  author = {Bonetto, Elia and Ahmad, Aamir},
  booktitle = {2023 European Conference on Mobile Robots (ECMR)},
  pages = {1-8},
  publisher = {IEEE},
  month = sep,
  year = {2023},
  doi = {10.1109/ECMR59166.2023.10256293},
  url = {https://ieeexplore.ieee.org/document/10256293},
  month_numeric = {9}
}