mlsanityData to 7 Oct 2026

Unity Perception: Generate Synthetic Data for Computer Vision

arXiv 2107.04259 ↗First posted 9 Jul 2021cs.CVcited by 43

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Abstract (arXiv)

We introduce the Unity Perception package which aims to simplify and accelerate the process of generating synthetic datasets for computer vision tasks by offering an easy-to-use and highly customizable toolset. This open-source package extends the Unity Editor and engine components to generate perfectly annotated examples for several common computer vision tasks. Additionally, it offers an extensible Randomization framework that lets the user quickly construct and configure randomized simulation parameters in order to introduce variation into the generated datasets. We provide an overview of the provided tools and how they work, and demonstrate the value of the generated synthetic datasets by training a 2D object detection model. The model trained with mostly synthetic data outperforms the model trained using only real data.

Key facts. Cited by 43 papers in the map (data through 7 Oct 2026). Builds on 30 of its 39 references that are in the map. First posted on arXiv 9 Jul 2021.

Builds on

30 of 39 references.

References · 30

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18 more
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 5; 2023: 9; 2024: 17; 2025: 7; 2026: 3.

43 papers.

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  1. 2022Kubric: A scalable dataset generatorcited by 373
  2. 2024Best Practices and Lessons Learned on Synthetic Datacited by 104
  3. 2023IndustReal: A Dataset for Procedure Step Recognition Handling Execution Errors in Egocentric Videos in an Industrial-Like Settingcited by 46
  4. 2024A survey of synthetic data augmentation methods in computer visioncited by 34
  5. 2022PSP-HDRI+: A Synthetic Dataset Generator for Pre-Training of Human-Centric Computer Vision Modelscited by 15
  6. 2024Synthetic Data Generation with LLM for Improved Depression Predictioncited by 13
  7. 2021PeopleSansPeople: A Synthetic Data Generator for Human-Centric Computer Visioncited by 11
  8. 2022Knock, knock. Who's there? -- Identifying football player jersey numbers with synthetic datacited by 7
  9. 2024GBOT: Graph-Based 3D Object Tracking for Augmented Reality-Assisted Assembly Guidancecited by 7
  10. 2024ASDF: Assembly State Detection Utilizing Late Fusion by Integrating 6D Pose Estimationcited by 6
  11. 2023M3Act: Learning from Synthetic Human Group Activitiescited by 5
  12. 2024WheelPose: Data Synthesis Techniques to Improve Pose Estimation Performance on Wheelchair Userscited by 5
31 more
  1. 2025LSD-3D: Large-Scale 3D Driving Scene Generation with Geometry Groundingcited by 5
  2. 2024Enhancing Object Detection with Hybrid dataset in Manufacturing Environments: Comparing Federated Learning to Conventional Techniquescited by 4
  3. 2025Cut-and-Splat: Leveraging Gaussian Splatting for Synthetic Data Generationcited by 4
  4. 2022Automatic Generation of Synthetic Colonoscopy Videos for Domain Randomizationcited by 3
  5. 2023STUPD: A Synthetic Dataset for Spatial and Temporal Relation Reasoningcited by 3
  6. 2024On the Equivalency, Substitutability, and Flexibility of Synthetic Datacited by 3
  7. 2024Supervised Representation Learning towards Generalizable Assembly State Recognitioncited by 3
  8. 2024Improving Pallet Detection Using Synthetic Datacited by 2
  9. 2024Synthetic imagery for fuzzy object detection: A comparative studycited by 2
  10. 2025DetectiumFire: A Comprehensive Multi-modal Dataset Bridging Vision and Language for Fire Understandingcited by 2
  11. 2021MINERVAS: Massive INterior EnviRonments VirtuAl Synthesiscited by 1
  12. 2022Comparison of synthetic dataset generation methods for medical intervention rooms using medical clothing detection as an examplecited by 1
  13. 2023AnthroNet: Conditional Generation of Humans via Anthropometricscited by 1
  14. 2024Enhancing Object Detection Performance for Small Objects through Synthetic Data Generation and Proportional Class-Balancing Technique: A Comparative Study in Industrial Scenarioscited by 1
  15. 2024Using Game Engines and Machine Learning to Create Synthetic Satellite Imagery for a Tabletop Verification Exercisecited by 1
  16. 2024FAFA: Frequency-Aware Flow-Aided Self-Supervision for Underwater Object Pose Estimationcited by 1
  17. 2024Enhancing Object Detection Accuracy in Autonomous Vehicles Using Synthetic Datacited by 1
  18. 2025CAD2DMD-SET: Synthetic Generation Tool of Digital Measurement Device CAD Model Datasets for fine-tuning Large Vision-Language Modelscited by 1
  19. 2025FreeAskWorld: An Interactive and Closed-Loop Simulator for Human-Centric Embodied AIcited by 1
  20. 2023VCVW-3D: A Virtual Construction Vehicles and Workers Dataset with 3D Annotationscited by 0
  21. 2023Monocular 2D Camera-based Proximity Monitoring for Human-Machine Collision Warning on Construction Sitescited by 0
  22. 2023Methodology for generating synthetic labeled datasets for visual container inspectioncited by 0
  23. 2023Aeolus Ocean -- A simulation environment for the autonomous COLREG-compliant navigation of Unmanned Surface Vehicles using Deep Reinforcement Learning and Maritime Object Detectioncited by 0
  24. 2023Detecting Moving Objects Using a Novel Optical-Flow-Based Range-Independent Invariantcited by 0
  25. 2024Research Experience of an Undergraduate Student in Computer Vision and Roboticscited by 0
  26. 2024Improving Object Detection by Modifying Synthetic Data with Explainable AIcited by 0
  27. 2025A Synthetic Dataset for Manometry Recognition in Robotic Applicationscited by 0
  28. 2025ISC-Perception: A Hybrid Computer Vision Dataset for Object Detection in Novel Steel Assemblycited by 0
  29. 2026Does Synthetic Data Help? Empirical Evidence from Deep Learning Time Series Forecasterscited by 0
  30. 2026The Power of Light: Improving Synthetic-to-Real Domain Adaptation through Physically-Based Indirect Illuminationcited by 0
  31. 2026From Unity Simulation to Diffusion-Based Augmentation: Quantifying Dataset Balance for Robust Object Detectioncited by 0