Fig. 3: Domain randomization of synthetic tissue images and open-sourced MMD X-ray dataset.
From: Synthetic X‑ray‑driven tracking and control of miniature medical devices
a, Real tissue images under X-ray imaging. b, The generation of precisely matched synthetic tissues with randomized and enhanced textures. c, Image generation with mask-guided conditioning and prompts. Randomization of masks and prompts substantially expands the dataset. d, A domain comparison of real and synthetic tissues. Features from 1,140 real and 24,803 synthetic tissue images, extracted using Inception V3, are visualized via PCA. e, An overview of the open-source MMD dataset under X-ray imaging. Dataset 1 (D1) contains real-time recordings and annotations of MMD locomotion. Dataset 2 (D2) includes static MMD images captured under various voltage and current conditions. Dataset 3 (D3) provides synthetic images with corresponding segmentation labels. The suffixes ‘-s’ and ‘-l’ denote the soft and liquid MMDs, respectively.
