Book Image

Applied Deep Learning and Computer Vision for Self-Driving Cars

By : Sumit Ranjan, Dr. S. Senthamilarasu
Book Image

Applied Deep Learning and Computer Vision for Self-Driving Cars

By: Sumit Ranjan, Dr. S. Senthamilarasu

Overview of this book

Thanks to a number of recent breakthroughs, self-driving car technology is now an emerging subject in the field of artificial intelligence and has shifted data scientists' focus to building autonomous cars that will transform the automotive industry. This book is a comprehensive guide to use deep learning and computer vision techniques to develop autonomous cars. Starting with the basics of self-driving cars (SDCs), this book will take you through the deep neural network techniques required to get up and running with building your autonomous vehicle. Once you are comfortable with the basics, you'll delve into advanced computer vision techniques and learn how to use deep learning methods to perform a variety of computer vision tasks such as finding lane lines, improving image classification, and so on. You will explore the basic structure and working of a semantic segmentation model and get to grips with detecting cars using semantic segmentation. The book also covers advanced applications such as behavior-cloning and vehicle detection using OpenCV, transfer learning, and deep learning methodologies to train SDCs to mimic human driving. By the end of this book, you'll have learned how to implement a variety of neural networks to develop your own autonomous vehicle using modern Python libraries.
Table of Contents (18 chapters)
1
Section 1: Deep Learning Foundation and SDC Basics
5
Section 2: Deep Learning and Computer Vision Techniques for SDC
10
Section 3: Semantic Segmentation for Self-Driving Cars
13
Section 4: Advanced Implementations

Understanding the semantic segmentation architecture

The semantic segmentation network generally consists of an encoder-decoder network. The encoder produces high-level features using convolution, while the decoder helps in interpreting these high-level features using classes. The encoder is a common encoding mechanism that is used by pre-trained networks and the decoder weight that's learned while training a segmentation network. The following diagram shows the architecture of the encoder-decoder-based FCN architecture for semantic segmentation: 

Fig 8.2: Semantic segmentation architecture

You can check out the preceding diagram at the following link: https://www.mdpi.com/2313-433X/4/10/116/pdf.

The encoder gradually reduces the spatial dimension with the help of pooling layers, while the decoder recovers the features of the object and spatial dimensions. You can read more about semantic segmentation in the paper on ECRU: An Encoder-Decoder-Based Convolution Neural...