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Hands-On Vision and Behavior for Self-Driving Cars

You're reading from   Hands-On Vision and Behavior for Self-Driving Cars Explore visual perception, lane detection, and object classification with Python 3 and OpenCV 4

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Product type Paperback
Published in Oct 2020
Publisher Packt
ISBN-13 9781800203587
Length 374 pages
Edition 1st Edition
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Authors (2):
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Krishtof Korda Krishtof Korda
Author Profile Icon Krishtof Korda
Krishtof Korda
Luca Venturi Luca Venturi
Author Profile Icon Luca Venturi
Luca Venturi
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Table of Contents (17) Chapters Close

Preface 1. Section 1: OpenCV and Sensors and Signals
2. Chapter 1: OpenCV Basics and Camera Calibration FREE CHAPTER 3. Chapter 2: Understanding and Working with Signals 4. Chapter 3: Lane Detection 5. Section 2: Improving How the Self-Driving Car Works with Deep Learning and Neural Networks
6. Chapter 4: Deep Learning with Neural Networks 7. Chapter 5: Deep Learning Workflow 8. Chapter 6: Improving Your Neural Network 9. Chapter 7: Detecting Pedestrians and Traffic Lights 10. Chapter 8: Behavioral Cloning 11. Chapter 9: Semantic Segmentation 12. Section 3: Mapping and Controls
13. Chapter 10: Steering, Throttle, and Brake Control 14. Chapter 11: Mapping Our Environments 15. Assessments 16. Other Books You May Enjoy

Defining the model of the neural network

Now we want to write our neural network, which we can call our model, and train it. We know that it should use convolutions, but we don't know much more than that. Let's take inspiration from an old but very influential CNN: LeNet.

LeNet

LeNet was one of the first CNNs. Dating back to 1998, it's pretty small and simple for today's standards. But it is enough for this task.

This is its architecture:

Figure 4.11 – LeNet

Figure 4.11 – LeNet

LeNet accepts 32x32 images and has the following layers:

  • The first layer is composed of six 5x5 convolutions, emitting images of 28x28 pixels.
  • The second layer subsamples the image (for example, computing the average of four pixels), emitting images of 14x14 pixels.
  • The third layer is composed of 16 5x5 convolutions, emitting images of 10x10 pixels.
  • The fourth layer subsamples the image (for example, computing the average of four pixels), emitting...
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