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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

Early stopping

When should we stop training? That's a good question! Ideally, you want to stop at the minimum validation error. While you cannot know this in advance, you can check the losses and get an idea of how many epochs you need. However, when you train your network, sometimes you need more epochs depending on how you tune your model, and it is not simple to know in advance when to stop.

We already know that we can use ModelCheckpoint, a callback of Keras, to save the model with the best validation error seen during training.

But there is also another very useful callback, EarlyStopping, which stops the training when a predefined set of conditions happen:

stop = EarlyStopping(min_delta=0.0005, patience=7, verbose=1)

The most important parameters to configure early stopping are the following:

  • monitor: This decides which parameter to monitor, by default: validation loss.
  • min_delta: If the difference in validation loss between epochs is below this value...
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