# FOD-S2R: A FOD Dataset for Sim2Real Transfer Learning based Object Detection

arXiv: https://arxiv.org/abs/2512.01315 · HTML: https://mlsanity.com/paper/2512.01315/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 38 of its 54 references that are in the map.
- First posted on arXiv 1 Dec 2025.

## Builds on (most cited first, 30 of 38)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World](https://mlsanity.com/paper/1703.06907/) (2017)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors](https://mlsanity.com/paper/2207.02696/) (2022)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding](https://mlsanity.com/paper/2011.02523/) (2020)
- [Object Detection with Deep Learning: A Review](https://mlsanity.com/paper/1807.05511/) (2018)
- [An Introduction to Convolutional Neural Networks](https://mlsanity.com/paper/1511.08458/) (2015)
- [Semantic Scene Completion from a Single Depth Image](https://mlsanity.com/paper/1611.08974/) (2016)
- [OmniObject3D: Large-Vocabulary 3D Object Dataset for Realistic Perception, Reconstruction and Generation](https://mlsanity.com/paper/2301.07525/) (2023)
- [Pix3D: Dataset and Methods for Single-Image 3D Shape Modeling](https://mlsanity.com/paper/1804.04610/) (2018)
- [Scaled-YOLOv4: Scaling Cross Stage Partial Network](https://mlsanity.com/paper/2011.08036/) (2020)
- [Real-IAD: A Real-World Multi-View Dataset for Benchmarking Versatile Industrial Anomaly Detection](https://mlsanity.com/paper/2403.12580/) (2024)
- [Learning non-maximum suppression](https://mlsanity.com/paper/1705.02950/) (2017)
- [Synthetic Data for Deep Learning](https://mlsanity.com/paper/1909.11512/) (2019)
- [Building Generalizable Agents with a Realistic and Rich 3D Environment](https://mlsanity.com/paper/1801.02209/) (2018)
- [Dense Distinct Query for End-to-End Object Detection](https://mlsanity.com/paper/2303.12776/) (2023)
- [ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer](https://mlsanity.com/paper/2204.02389/) (2022)
- [RarePlanes: Synthetic Data Takes Flight](https://mlsanity.com/paper/2006.02963/) (2020)
- [Object Detection Using Sim2Real Domain Randomization for Robotic Applications](https://mlsanity.com/paper/2208.04171/) (2022)

## Built on by (most cited first, 1 of 1)

- [SynthRender and I-AsSET: Open-Source Framework and Dataset for Bidirectional Sim-Real Transfer in Industrial Object Perception](https://mlsanity.com/paper/2602.21141/) (2026)

## Abstract (arXiv)

Foreign Object Debris (FOD) within aircraft fuel tanks presents critical safety hazards including fuel contamination, system malfunctions, and increased maintenance costs. Despite the severity of these risks, there is a notable lack of dedicated datasets for the complex, enclosed environments found inside fuel tanks. To bridge this gap, we present a novel dataset, FOD-S2R, composed of real and synthetic images of the FOD within a simulated aircraft fuel tank. Unlike existing datasets that focus on external or open-air environments, our dataset is the first to systematically evaluate the effectiveness of synthetic data in enhancing the real-world FOD detection performance in confined, closed structures. The real-world subset consists of 3,114 high-resolution HD images captured in a controlled fuel tank replica, while the synthetic subset includes 3,137 images generated using Unreal Engine. The dataset is composed of various Field of views (FOV), object distances, lighting conditions, color, and object size. Prior research has demonstrated that synthetic data can reduce reliance on extensive real-world annotations and improve the generalizability of vision models. Thus, we benchmark several state-of-the-art object detection models and demonstrate that introducing synthetic data improves the detection accuracy and generalization to real-world conditions. These experiments demonstrate the effectiveness of synthetic data in enhancing the model performance and narrowing the Sim2Real gap, providing a valuable foundation for developing automated FOD detection systems for aviation maintenance.