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Prior Availability in Industrial Visual Sim-to-Real: A Review of CAD-Guided and CAD-Unavailable Regimes

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์ €์ž

Chenxi Tao, Seung-Kyum Choi

๐Ÿ’ก ๊ฐœ์š”

๋ณธ ๋…ผ๋ฌธ์€ ์‚ฐ์—… ๋น„์ „ ์‹œ๋ฎฌ๋ ˆ์ด์…˜-์‹ค์„ธ๊ณ„ ์ „์ด(sim-to-real) ๋ฌธ์ œ๋ฅผ CAD(Computer-Aided Design) ์ •๋ณด์˜ ๊ฐ€์šฉ์„ฑ์— ๋”ฐ๋ผ ์žฌ์ •์˜ํ•˜๊ณ , CAD ๊ฐ€์šฉ ์œ ๋ฌด์— ๋”ฐ๋ฅธ ๋‘ ๊ฐ€์ง€ ์ฃผ์š” ํ™˜๊ฒฝ(CAD-available, CAD-unavailable)์„ ์ œ์•ˆํ•ฉ๋‹ˆ๋‹ค. ์ด๋ฅผ ํ†ตํ•ด ๊ธฐ์กด์— ๋ถ„๋ฆฌ๋˜์–ด ์—ฐ๊ตฌ๋˜๋˜ CAD ๊ธฐ๋ฐ˜ ์ž‘์—…๊ณผ CAD ๋น„๊ฐ€์šฉ ํ™˜๊ฒฝ์—์„œ์˜ ์‚ฐ์—…์  ๊ฒฐํ•จ ๊ฒ€์ถœ ๋ฐ ํ‘œ๋ฉด ๊ฒ€์‚ฌ ๊ด€๋ จ ๋ฌธํ—Œ์„ ํ†ตํ•ฉ์ ์œผ๋กœ ์กฐ๋งํ•ฉ๋‹ˆ๋‹ค.

๐Ÿ”‘ ์‹œ์‚ฌ์  ๋ฐ ํ•œ๊ณ„

โ€ข
CAD ์ •๋ณด๋Š” ๋ Œ๋”๋ง, ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ž์„ธ ์ถ”์ •, ๋ถ„ํ•  ๋ฐ ๊ธฐํ•˜ํ•™์  ๊ฒ€์ฆ ๋“ฑ ๋‹ค์–‘ํ•œ ์‚ฐ์—… ๋น„์ „ ์ž‘์—…์—์„œ ํ•ต์‹ฌ์ ์ธ ์—ญํ• ์„ ์ˆ˜ํ–‰ํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
โ€ข
CAD ์ •๋ณด๊ฐ€ ์—†์„ ๊ฒฝ์šฐ, ์ •์ƒ ์™ธ๊ด€ ์ฐธ์กฐ, ํŠน์ง• ๋ถ„ํฌ, ํ•ฉ์„ฑ ์ด์ƒ ๊ฐ€์ •, ์‚ฌ์ „ ํ•™์Šต๋œ ํŠน์ง• ๊ณต๊ฐ„, ๋น„์ „-์–ธ์–ด ์‚ฌ์ „ ์ •๋ณด ๋“ฑ์ด ๋Œ€์•ˆ์ ์ธ ์ ‘๊ทผ ๋ฐฉ์‹์œผ๋กœ ํ™œ์šฉ๋  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
โ€ข
CAD ์ •๋ณด์˜ ์œ ๋ฌด๋ฟ๋งŒ ์•„๋‹ˆ๋ผ, ์†Œ์Šค ๋ถ„ํฌ ์„ค๊ณ„, ํƒ์ง€๊ธฐ ์„ฑ๋Šฅ, ์‹ค์ œ ๋ฐ์ดํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋“ฑ์ด ์‹œ๋ฎฌ๋ ˆ์ด์…˜-์‹ค์„ธ๊ณ„ ์ „์ด ์„ฑ๊ณต์— ๋” ํฐ ์˜ํ–ฅ์„ ๋ฏธ์น  ์ˆ˜ ์žˆ์œผ๋ฉฐ, ๋‹จ์ผํ•œ ์„ฑ๋Šฅ ์ง€ํ‘œ๋ณด๋‹ค๋Š” ํŠน์ • ๋ฐฐํฌ ๊ฒฐ์ •์— ์–ด๋–ค ์‚ฌ์ „ ์ •๋ณด๊ฐ€ ๊ธฐ๋ฐ˜์ด ๋˜๋Š”์ง€์— ๋Œ€ํ•œ ์งˆ๋ฌธ์ด ์ค‘์š”ํ•ฉ๋‹ˆ๋‹ค.
โ€ข
๋ณธ ์—ฐ๊ตฌ๋Š” CAD ๊ฐ€์šฉ์„ฑ์— ๋”ฐ๋ฅธ ๋ถ„๋ฅ˜๋ฅผ ์ œ์•ˆํ•˜์ง€๋งŒ, ์‹ค์ œ ์‚ฐ์—… ํ™˜๊ฒฝ์—์„œ๋Š” ๋‹ค์–‘ํ•œ ์ •๋ณด๊ฐ€ ๋ณตํ•ฉ์ ์œผ๋กœ ์‚ฌ์šฉ๋  ์ˆ˜ ์žˆ์œผ๋ฏ€๋กœ, ๊ฐ ๋ฐฉ๋ฒ•๋ก ์˜ ๊ตฌ์ฒด์ ์ธ ํšจ๊ณผ์™€ ํ•œ๊ณ„์— ๋Œ€ํ•œ ์ถ”๊ฐ€์ ์ธ ์‹ค์ฆ์  ์—ฐ๊ตฌ๊ฐ€ ํ•„์š”ํ•ฉ๋‹ˆ๋‹ค.
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