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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

Chapter 6: Improving Your Neural Network

In Chapter 4, Deep Learning with Neural Networks, we designed a network that is able to achieve almost 93% accuracy in the training dataset, but that translated to less than 66% accuracy in the validation dataset.

In this chapter, we will continue working on that neural network, with the aim to improve the validation accuracy significantly. Our goal is to reach at least 80% validation accuracy. We will apply some of the knowledge acquired in Chapter 5, Deep Learning Workflow, and we will also learn new techniques that will help us very much, such as batch normalization.

We will cover the following topics:

  • Reducing the number of parameters
  • Increasing the size of the network and the number of layers
  • Understanding batch normalization
  • Improving validation with early stopping
  • Virtually increasing the dataset size with data augmentation
  • Improving validation accuracy with dropout
  • Improving validation accuracy with...
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