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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

Detecting MNIST handwritten digits

When you design a neural network, you usually start with a problem that you want to solve, and you might start with a design that you know performs well on a similar task. You need a dataset, basically as big a dataset as you can get. There is not really a rule on that, but we can say that the minimum to train your own neural network might be something around 3,000 images, but nowadays world-class CNNs are trained using literally millions of pictures.

Our first task is to detect handwritten digits, a classical task for CNNs. There is a dataset for that, the MNIST dataset (copyright of Yann LeCun and Corinna Cortes), and it is conveniently present in Keras. MNIST detection is an easy task, so we will achieve good results.

Loading the dataset is easy:

from keras.datasets import mnist
(x_train, y_train), (x_test, y_test) = mnist.load_data()
x_train = np.reshape(x_train, np.append(x_train.shape, (1)))
x_test = np.reshape(x_test, np.append(x_test...
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