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Applied Deep Learning and Computer Vision for Self-Driving Cars

Applied Deep Learning and Computer Vision for Self-Driving Cars

By : Sumit Ranjan, Dr. S. Senthamilarasu
4.3 (9)
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Applied Deep Learning and Computer Vision for Self-Driving Cars

Applied Deep Learning and Computer Vision for Self-Driving Cars

4.3 (9)
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)
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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

Zero-padding

Zero-padding is a very simple concept that we apply to the border of our input. With a stride of 1, the output of the feature map will be a 3 x 3 matrix. We can see that after applying a stride of 1, we end up with a tiny output. This output will be the input for the next layer. In this way, there are high chances of losing information. So, we add a border of zeros around the input, as shown in the following screenshot:

Fig 6.12: Zero-padding

Adding zeros around the border is equivalent to adding a black border around an image. We can also set the padding to 2 if required.

Now, we will calculate the output of the convolution mathematically. We have the following parameters:

  • Kernal/filter size, K
  • Depth, D
  • Stride, S
  • Zero-padding, P
  • Input image size, I

To ensure that the filters cover the full input image symmetrically, we'll use the following equation to do the sanity check; it is valid if the result of the equation is an integer:

In the next section, we will...

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Applied Deep Learning and Computer Vision for Self-Driving Cars
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