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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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Toc

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

Improving the dataset with data augmentation

It's time to use data augmentation, and basically, increase the size of our dataset.

From this moment, we will no longer care about the accuracy of the training dataset, as this technique will reduce it, but we will focus on the validation accuracy, which is expected to improve.

We also expect to need more epochs, as our dataset is now more difficult, so we will now set the epochs to 500 (though we don't plan to reach it) and use EarlyStopping with a patience of 7.

Let's try with this augmentation:

ImageDataGenerator(rotation_range=15, width_shift_range=[-5, 0, 5],    horizontal_flip=True)

You should take care not to overdo things because the network might learn a dataset too different from validation, and in this case, you will see the validation accuracy stuck at 10%.

This is the result:

Epoch 00031: val_loss did not improve from 0.48613
Epoch 00031: early stopping
Training time...
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