# ScratchSim: A Procedural Synthetic Data Pipeline for Surface Scratch Detection

arXiv: https://arxiv.org/abs/2607.27065 · HTML: https://mlsanity.com/paper/2607.27065/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 15 of its 35 references that are in the map.
- First posted on arXiv 29 Jul 2026.

## Builds on (most cited first, 15 of 15)

- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [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)
- [Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World](https://mlsanity.com/paper/1703.06907/) (2017)
- [Training Deep Networks with Synthetic Data: Bridging the Reality Gap by Domain Randomization](https://mlsanity.com/paper/1804.06516/) (2018)
- [BOP Challenge 2020 on 6D Object Localization](https://mlsanity.com/paper/2009.07378/) (2020)
- [LW-DETR: A Transformer Replacement to YOLO for Real-Time Detection](https://mlsanity.com/paper/2406.03459/) (2024)
- [A survey of synthetic data augmentation methods in computer vision](https://mlsanity.com/paper/2403.10075/) (2024)
- [Mixing Real and Synthetic Data to Enhance Neural Network Training -- A Review of Current Approaches](https://mlsanity.com/paper/2007.08781/) (2020)
- [6D Strawberry Pose Estimation: Real-time and Edge AI Solutions Using Purely Synthetic Training Data](https://mlsanity.com/paper/2511.11307/) (2025)

## Abstract (arXiv)

While automated defect detection such as the detection of surface scratched is an important aspect in industrial quality control, the scarcity of annotated defect data make this task challenging. This paper presents a procedural rendering pipeline that generates large-scale annotated synthetic training data using BlenderProc, with configurable material appearance, camera modes, and domain randomization, producing automatic COCO-format annotations. To show the potential of our approach, we evaluate four training strategies, namely synthetic-only, real-only, mixed, and fine-tuning from synthetic weights, across two objects with different material properties and three lightweight edge-deployable detectors, YOLOX, YOLO26, and LW-DETR. Our evaluation show that fine-tuning from synthetic weights consistently outperforms real-only training, and that mixed training effectively recovers performance under scarce real-data conditions, with findings validated across both convolutional and transformer-based architectures. The proposed approach enables scalable defect detection without the burden of large real annotated datasets, making it practical for on-device industrial inspection. The pipeline scripts for generating synthetic scratches, 3D model, and both the synthetic and real annotated scratch datasets for a glossy toy Ferrari car are publicly available at https://github.com/saptarshineil/ScratchSim.