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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

Inference

Inference is the process of giving an input to your network and getting a classification or prediction. When the neural network has been trained and deployed in production, we use it, for example, to classify images or to decide how to drive in a road, and this process is called inference.

The first step is to load the model:

model = load_model(os.path.join(dir_save, model_name))

Then you simply call predict(), which is the method for inference in Keras. Let's try with the first test sample of MNIST:

x_pred = model.predict(x_test[0:1, :, :, :])print("Expected:", np.argmax(y_test))print("First prediction probabilities:", x_pred)print("First prediction:", np.argmax(x_pred))

This is the result for my MNIST network:

Expected: 7
First prediction probabilities: [[6.3424804e-14 6.1755254e-06 2.5011676e-08 2.2640785e-07 9.0170204e-08 7.4626680e-11 5.6195684e-13 9.9999273e-01 1.9735349e-09 7.3219508e-07]]
First prediction: 7
...
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