Stefan Milz, Tobias Rüdiger, Sebastian Süss
Environmental perception for autonomous aerial vehicles is a rising field. Recent years have shown a strong increase of performance in terms of accuracy and efficiency with the aid of convolutional neural networks. Thus, the community has established data sets for benchmarking several kinds of algorithms. However, public data is rare for multi-sensor approaches or either not large enough to train very accurate algorithms. For this reason, we propose a method to generate multi-sensor data sets using realistic data augmentation based on conditional generative adversarial networks (cGAN). cGANs have shown impressive results for image to image translation. We use this principle for sensor simulation. Hence, there is no need for expensive and complex 3D engines. Our method encodes ground truth data, e.g. semantics or object boxes that could be drawn randomly, in the conditional image to generate realistic consistent sensor data. Our method is proven for aerial object detection and semantic segmentation on visual data, such as 3D Lidar reconstruction using the ISPRS and DOTA data set. We demonstrate qualitative accuracy improvements for state-of-the-art object detection (YOLO) using our augmentation technique.