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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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Toc

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

The model

Now that you have a dataset of images and you know what you want to do (for instance, a classification), it's time to build your model!

We assume that you are working on a convolutional neural network, so you might even just use convolutional blocks, MaxPooling, and dense layers. But how to size them? How many layers should be used?

Let's do some tests with CIFAR-10, as MINST is too easy, and see what happens. We will not change the other parameters, but just play with these layers a bit.

We will also train for 5 epochs, so as to speed up training. This is not about getting the best neural network; it is about measuring the impact of some parameters.

Our starting point is a network with one convolutional layer, one MaxPooling layer, and one dense layer, shown as follows:

model = Sequential()
model.add(Conv2D(8, (3, 3), input_shape=x_train.shape[1:], activation='relu'))
model.add(MaxPooling2D())
model.add(Flatten())
model.add(Dense(units...
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