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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

Coding the blocks of FC-DenseNet

DenseNet is very flexible, so you can easily configure it in many ways. However, depending on the hardware of your computer, you might hit the limits of your GPU. The following are the values that I used on my computer, but feel free to change them to achieve better accuracy or to reduce the memory consumption or the time required to train the network:

  • Input and output resolution: 160 X 160
  • Growth rate (number of channels added by each convolutional layer in a dense block): 12
  • Number of dense blocks: 11: 5 down, 1 to transition between down and up, and 5 up
  • Number of convolutional blocks in each dense block: 4
  • Batch size: 4
  • Bottleneck layer in the dense blocks: No
  • Compression factor: 0.6
  • Dropout: Yes, 0.2

    We will define some functions that you can use to build FC-DenseNet and, as usual, you are invited to check out the full code on GitHub.

    The first function just defines a convolution with batch normalization:

    def dn_conv...
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