利用合成数据进行Sim-to-Real水果检测:定量评价和与Isaac Sim嵌入式部署

Sim-to-Real Fruit Detection Using Synthetic Data: Quantitative Evaluation and Embedded Deployment with Isaac Sim

This study investigates the effectiveness of synthetic data for sim-to-real transfer in object detection under constrained data conditions and embedded deployment requirements. Synthetic datasets were generated in NVIDIA Isaac Sim and combined with limited real-world fruit images to train YOLO-based detection models under real-only, synthetic-only, and hybrid regimes. Performance was evaluated on two test datasets: an in-domain dataset with conditions matching the training data and a domain shif