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Applied Deep Learning and Computer Vision for Self-Driving Cars

You're reading from   Applied Deep Learning and Computer Vision for Self-Driving Cars Build autonomous vehicles using deep neural networks and behavior-cloning techniques

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Product type Paperback
Published in Aug 2020
Publisher Packt
ISBN-13 9781838646301
Length 332 pages
Edition 1st Edition
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Authors (3):
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Dr. S. Senthamilarasu Dr. S. Senthamilarasu
Author Profile Icon Dr. S. Senthamilarasu
Dr. S. Senthamilarasu
Balu Nair Balu Nair
Author Profile Icon Balu Nair
Balu Nair
Sumit Ranjan Sumit Ranjan
Author Profile Icon Sumit Ranjan
Sumit Ranjan
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Toc

Table of Contents (18) Chapters Close

Preface 1. Section 1: Deep Learning Foundation and SDC Basics
2. The Foundation of Self-Driving Cars FREE CHAPTER 3. Dive Deep into Deep Neural Networks 4. Implementing a Deep Learning Model Using Keras 5. Section 2: Deep Learning and Computer Vision Techniques for SDC
6. Computer Vision for Self-Driving Cars 7. Finding Road Markings Using OpenCV 8. Improving the Image Classifier with CNN 9. Road Sign Detection Using Deep Learning 10. Section 3: Semantic Segmentation for Self-Driving Cars
11. The Principles and Foundations of Semantic Segmentation 12. Implementing Semantic Segmentation 13. Section 4: Advanced Implementations
14. Behavioral Cloning Using Deep Learning 15. Vehicle Detection Using OpenCV and Deep Learning 16. Next Steps 17. Other Books You May Enjoy

Semantic segmentation in images

In this section, we are going to implement one project on semantic segmentation using a popular network called ENet. 

Efficient Neural Network (ENet) is one of the more popular networks out there due to its ability to perform real-time, pixel-wise semantic segmentation. ENet is up to 18x faster, requires 75x fewer FLOPs, and has 79x fewer parameters than other networks. This means ENet provides better accuracy than the existing models, such as U-Net and SegNet. ENet networks are typically tested on CamVid, CityScapes, and SUN datasets. The model's size is 3.2 MB.

The model we are using has been trained on 20 classes: 

  • Road
  • Sidewalk
  • Building
  • Wall
  • Fence
  • Pole
  • TrafficLight
  • TrafficSign
  • Vegetation
  • Terrain
  • Sky
  • Person
  • Rider
  • Car
  • Truck
  • Bus
  • Train
  • Motorcycle
  • Bicycle
  • Unlabeled 

We will start with the semantic segmentation project: 

  1. First, we will import the necessary packages and libraries, such as numpy, openCV, and...
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