Mitigating Context Bias in Domain Adaptation for Object Detection using Mask Pooling

Context bias refers to the association between the foreground objects and background during the object detection training process. Various methods have been proposed to minimize the context bias when applying the trained model to an unseen domain, known as domain adaptation for object detection (DAOD). But a principled approach to understand why the context bias occurs and how to remove it has been missing. In this work, we provide a causal view of the context bias, pointing towards the pooling operation in the convolution network architecture as the possible source of this bias. We present an alternative, Mask Pooling, which uses an additional input of foreground masks, to separate the pooling process in the respective foreground and background regions and show that this process leads the trained model to detect objects in a more robust manner under different domains. We also provide a benchmark designed to create an ultimate test for DAOD, using foregrounds in the presence of absolute random backgrounds, to analyze the robustness of the intended trained models. Through these experiments, we hope to provide a principled approach for minimizing context bias under domain shift.

MatPredict: a dataset and benchmark for learning material properties of diverse indoor objects

Determining material properties from camera images can expand the ability to identify complex objects in indoor environments, which is valuable for consumer robotics applications. To support this, we introduce MatPredict, a dataset that combines the high-quality synthetic objects from Replica dataset with MatSynth dataset's material properties classes - to create objects with diverse material properties. We select 3D meshes of specific foreground objects and render them with different material properties. In total, we generate \textbf{18} commonly occurring objects with \textbf{14} different materials. We showcase how we provide variability in terms of lighting and camera placement for these objects. Next, we provide a benchmark for inferring material properties from visual images using these perturbed models in the scene, discussing the specific neural network models involved and their performance based on different image comparison metrics. By accurately simulating light interactions with different materials, we can enhance realism, which is crucial for training models effectively through large-scale simulations. This research aims to revolutionize perception in consumer robotics. The dataset is provided \href{https://huggingface.co/datasets/UMTRI/MatPredict}{here} and the code is provided \href{https://github.com/arpan-kusari/MatPredict}{here}.