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

Batch size

Another non-trivial hyperparameter that has a huge influence on the training accuracy, time, and resource requirements is batch size. Basically, batch size determines the number of data points that are sent to the ML algorithm in a single iteration during training.

Although having a very large batch size is beneficial for huge computational boosts, in practice, it has been observed that there is a significant degradation in the quality of the model, as measured by its ability to generalize. Batch size also comes at the expense of needing more memory for the training process.

Although a smaller batch size increases the training time, it almost always yields a better model than when using a larger batch size. This can be attributed to the fact that smaller batch sizes introduce more noise in gradient estimations, which helps them converge to flat minimizers. However, the downside of using a small batch size is that training times are increased.

In general, if the...