Book Image

Hands-On Vision and Behavior for Self-Driving Cars

By : Luca Venturi, Krishtof Korda
Book Image

Hands-On Vision and Behavior for Self-Driving Cars

By: Luca Venturi, Krishtof Korda

Overview of this book

The visual perception capabilities of a self-driving car are powered by computer vision. The work relating to self-driving cars can be broadly classified into three components - robotics, computer vision, and machine learning. This book provides existing computer vision engineers and developers with the unique opportunity to be associated with this booming field. You will learn about computer vision, deep learning, and depth perception applied to driverless cars. The book provides a structured and thorough introduction, as making a real self-driving car is a huge cross-functional effort. As you progress, you will cover relevant cases with working code, before going on to understand how to use OpenCV, TensorFlow and Keras to analyze video streaming from car cameras. Later, you will learn how to interpret and make the most of lidars (light detection and ranging) to identify obstacles and localize your position. You’ll even be able to tackle core challenges in self-driving cars such as finding lanes, detecting pedestrian and crossing lights, performing semantic segmentation, and writing a PID controller. By the end of this book, you’ll be equipped with the skills you need to write code for a self-driving car running in a driverless car simulator, and be able to tackle various challenges faced by autonomous car engineers.
Table of Contents (17 chapters)
1
Section 1: OpenCV and Sensors and Signals
5
Section 2: Improving How the Self-Driving Car Works with Deep Learning and Neural Networks
12
Section 3: Mapping and Controls

Chapter 2: Understanding and Working with Signals

In this chapter, you will learn about several different signal types that you are likely to see when integrating the sensors that you have chosen for your project. You will also learn about the various signal architectures, and the chapter will help you choose the one that is most appropriate for your application. Each has its pitfalls, protocols, and prescriptions.

In this chapter, we will cover the following topics:

  • Signal types
  • Analog verus digital
  • Serial data
  • CAN
  • UDP
  • TCP

By the end of this chapter, you will be able to apply your understanding of each protocol. You will be able to decode the serial data of various protocols by hand to aid in debugging signals. Most importantly, you will have the knowledge required to help you apply open source tools to do the heavy lifting for you.