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Applied Deep Learning and Computer Vision for Self-Driving Cars

You're reading from   Applied Deep Learning and Computer Vision for Self-Driving Cars Build autonomous vehicles using deep neural networks and behavior-cloning techniques

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Product type Paperback
Published in Aug 2020
Publisher Packt
ISBN-13 9781838646301
Length 332 pages
Edition 1st Edition
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Authors (3):
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Dr. S. Senthamilarasu Dr. S. Senthamilarasu
Author Profile Icon Dr. S. Senthamilarasu
Dr. S. Senthamilarasu
Balu Nair Balu Nair
Author Profile Icon Balu Nair
Balu Nair
Sumit Ranjan Sumit Ranjan
Author Profile Icon Sumit Ranjan
Sumit Ranjan
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Table of Contents (18) Chapters Close

Preface 1. Section 1: Deep Learning Foundation and SDC Basics
2. The Foundation of Self-Driving Cars FREE CHAPTER 3. Dive Deep into Deep Neural Networks 4. Implementing a Deep Learning Model Using Keras 5. Section 2: Deep Learning and Computer Vision Techniques for SDC
6. Computer Vision for Self-Driving Cars 7. Finding Road Markings Using OpenCV 8. Improving the Image Classifier with CNN 9. Road Sign Detection Using Deep Learning 10. Section 3: Semantic Segmentation for Self-Driving Cars
11. The Principles and Foundations of Semantic Segmentation 12. Implementing Semantic Segmentation 13. Section 4: Advanced Implementations
14. Behavioral Cloning Using Deep Learning 15. Vehicle Detection Using OpenCV and Deep Learning 16. Next Steps 17. Other Books You May Enjoy

Understanding the semantic segmentation architecture

The semantic segmentation network generally consists of an encoder-decoder network. The encoder produces high-level features using convolution, while the decoder helps in interpreting these high-level features using classes. The encoder is a common encoding mechanism that is used by pre-trained networks and the decoder weight that's learned while training a segmentation network. The following diagram shows the architecture of the encoder-decoder-based FCN architecture for semantic segmentation: 

Fig 8.2: Semantic segmentation architecture

You can check out the preceding diagram at the following link: https://www.mdpi.com/2313-433X/4/10/116/pdf.

The encoder gradually reduces the spatial dimension with the help of pooling layers, while the decoder recovers the features of the object and spatial dimensions. You can read more about semantic segmentation in the paper on ECRU: An Encoder-Decoder-Based Convolution Neural...
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