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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

Understanding DenseNet for classification

DenseNet is a fascinating architecture of neural networks that is designed to be flexible, memory efficient, effective, and also relatively simple. There are really a lot of things to like about DenseNet.

The DenseNet architecture is designed to build very deep networks, solving the problem of the vanishing gradient with techniques derived from ResNet. Our implementation will reach 50 layers, but you can easily build a deeper network. In fact, Keras has three types of DenseNet trained on ImageNet, with 121, 169, and 201 layers, respectively. DenseNet also solves the problem of dead neurons, when you have neurons that are basically not active.The next section will show a high-level overview of DenseNet.

DenseNet from a bird's-eye view

For the moment, we will focus on DenseNet as a classifier, which is not what we are going to implement, but it is useful as a concept to start to understand it. The high-level architecture of DenseNet...

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