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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

Improving the validation accuracy with dropout

A source of overfitting is the fact that the neural network relies more on some neurons to draw its conclusions, and if those neurons are wrong, the network is wrong. One way to reduce this problem is simply to randomly shut down some neurons during training while keeping them working normally during inference. In this way, the neural network learns to be more resistant to errors and to generalize better. This mechanism is called dropout, and obviously, Keras supports it. Dropout increases the training time, as the network needs more epochs to converge. It might also require a bigger network, as some neurons are randomly deactivated during training. It is also more useful when the dataset is not very big for the network, as it is more likely to overfit. In practice, as dropout is meant to reduce overfitting, it brings little benefit if your network is not overfitting.

A typical value of dropout for dense layers is 0.5, though we might...

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