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Recent work has focused on generating synthetic imagery to increase the size and variability of training data for learning visual tasks in urban scenes. This includes increasing the occurrence of occlusions or varying environmental and weather effects. However, few have addressed modeling variation in the sensor domain. Sensor effects can degrade real images, limiting generalizability of network performance on visual tasks trained on synthetic data and tested in real environments. This paperarXiv:1803.07721v6 fatcat:nuzuml5ucnfs3lvm3b3nuyigka