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Applied Deep Learning and Computer Vision for Self-Driving Cars

You're reading from  Applied Deep Learning and Computer Vision for Self-Driving Cars

Product type Book
Published in Aug 2020
Publisher Packt
ISBN-13 9781838646301
Pages 332 pages
Edition 1st Edition
Languages
Authors (2):
Sumit Ranjan Sumit Ranjan
Profile icon Sumit Ranjan
Dr. S. Senthamilarasu Dr. S. Senthamilarasu
Profile icon Dr. S. Senthamilarasu
View More author details

Table of Contents (18) Chapters

Preface 1. Section 1: Deep Learning Foundation and SDC Basics
2. The Foundation of Self-Driving Cars 3. Dive Deep into Deep Neural Networks 4. Implementing a Deep Learning Model Using Keras 5. Section 2: Deep Learning and Computer Vision Techniques for SDC
6. Computer Vision for Self-Driving Cars 7. Finding Road Markings Using OpenCV 8. Improving the Image Classifier with CNN 9. Road Sign Detection Using Deep Learning 10. Section 3: Semantic Segmentation for Self-Driving Cars
11. The Principles and Foundations of Semantic Segmentation 12. Implementing Semantic Segmentation 13. Section 4: Advanced Implementations
14. Behavioral Cloning Using Deep Learning 15. Vehicle Detection Using OpenCV and Deep Learning 16. Next Steps 17. Other Books You May Enjoy

Semantic segmentation in images

In this section, we are going to implement one project on semantic segmentation using a popular network called ENet. 

Efficient Neural Network (ENet) is one of the more popular networks out there due to its ability to perform real-time, pixel-wise semantic segmentation. ENet is up to 18x faster, requires 75x fewer FLOPs, and has 79x fewer parameters than other networks. This means ENet provides better accuracy than the existing models, such as U-Net and SegNet. ENet networks are typically tested on CamVid, CityScapes, and SUN datasets. The model's size is 3.2 MB.

The model we are using has been trained on 20 classes: 

  • Road
  • Sidewalk
  • Building
  • Wall
  • Fence
  • Pole
  • TrafficLight
  • TrafficSign
  • Vegetation
  • Terrain
  • Sky
  • Person
  • Rider
  • Car
  • Truck
  • Bus
  • Train
  • Motorcycle
  • Bicycle
  • Unlabeled 

We will start with the semantic segmentation project: 

  1. First, we will import the necessary packages and libraries, such as numpy, openCV, and...
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