Surface Normal estimation on real images when trained on a) Matterport3D and ScanNet only (MP+SN), b) our synthetic dataset only, and c) MP+SN as well as our synthetic dataset. Note how the model trained on MP+SN fails to detect the transparent objects. The model trained on only synthetic data picks up the real plastic bottles remarkably well, but fails for other objects and surfaces. When trained on both, our model gets the best of both worlds. |