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

PSPNet

PSPNet -Full-Resolution Residual Networks were really computationally intensive and using them on full-scale images was really slow. In order to deal with this problem, PSPNet came into the picture. It applies four different max-pooling operations with four different window sizes and strides. Using the max-pooling layers allows us to extract feature information from different scales with more efficiency.

PSPNet achieved state-of-the-art performance on various datasets. It became popular after the ImageNet scene parsing challenge in 2016. It hit the PASCAL VOC 2012 benchmark and the Cityscapes benchmark with a mIoU record of 85.4% accuracy on PASCAL VOC 2012, and also achieved 80.2% on Cityscapes. The following is a link to the relevant paper: https://arxiv.org/pdf/1612.01105.

The following diagram shows the architecture of PSPNet:

Fig 8.5: PSPNet architecture

Check out https://hszhao.github.io/projects/pspnet/ to find out more about the PSPNet architecture...