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Figure 6. Image quality assessment procedure. The rendered image quality is changed by using different texture settings including color
maps, metallic maps, and roughness maps. Images with different quality levels could be generated using different texture settings. PSNR:
Peak signal-to-noise ratio; SSIM: structural similarity index metric.
Figure 7. Segmentation model development method. The SegFormer network is pre-trained by physical synthetic images, then transferred
to the small batch of real images to achieve better segmentation performance. FFN: Feed-forward networks; MLP: multi-layer perceptron.

