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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 classifiers

Deep learning can be used for many different tasks. For what concerns images and CNN, a very common task is classification. Given an image, the neural network needs to classify it, using one of the labels provided during training. Not surprisingly, a network of this type is called a classifier.

To do so, the neural network will have one output for each label (for example, on the 10 digits MNIST dataset, we have 10 labels and so 10 outputs) and only one output should be 1, while all the other outputs should be 0.

How will a neural network achieve this state? Well, it doesn't. The neural network produces floating point outputs as a result of the internal multiplications and sums, and very seldom you get a similar output. However, we can consider the highest value as the hot one (1), and all the others can be considered cold (0).

We usually apply a softmax layer at the end of the neural network, which converts the outputs in to probability, meaning...

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