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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

Adapting DenseNet for semantic segmentation

DenseNet is very suitable for semantic segmentation because of its efficiency, accuracy, and abundance of skip layers. In fact, using DenseNet for semantic segmentation proves to be effective even when the dataset is limited and when a label is underrepresented.

To use DenseNet for semantic segmentation, we need to be able to build the right side of the U network, which means that we need the following:

  • A way to increase the resolution; if we call the transition layers of DenseNet transition down, then we need transition-up layers.
  • We need to build the skip layers to join the left and right side of the U network.

Our reference network is FC-DenseNet, also known as one hundred layers tiramisu, but we are not trying to reach 100 layers.

In practice, we want to achieve an architecture similar to the following:

Figure 9.8 – Example of FC-DenseNet architecture

Figure 9.8 – Example of FC-DenseNet architecture

The horizontal red arrows...

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