Improving the learning of self-driving vehicles based on real driving behavior using deep neural network techniques

2020 ◽  
Author(s):  
Nayereh Zaghari ◽  
Mahmood Fathy ◽  
Seyed Mahdi Jameii ◽  
Mohammad Sabokrou ◽  
Mohammad Shahverdy
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Driving Behavior

scholarly journals Improving the Learning of Self-driving Vehicles Based on Real Driving Behavior using Deep Neural Network Techniques

2020 ◽  
Author(s):  
Nayere Zaghari ◽  
Mahmood Fathy ◽  
Seyed Mahdi Jameii ◽  
Mohammad Sabokrou ◽  
Mohammad Shahverdy
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Autonomous Vehicle ◽  
Driving Behavior ◽  
Obstacle Detection ◽  
Convolutional Network ◽  
The Real ◽  
Cloning Method ◽  
Vehicle Acceleration ◽  
Performance Results

Considering the significant advancements in autonomous vehicle technology, research in this field is of interest to researchers. To drive vehicles autonomously, controlling steer angle, gas hatch, and brakes need to be learned. The behavioral cloning method is used to imitate humans’ driving behavior. We created a dataset of driving in different routes and conditions and using the designed model, the output used for controlling the vehicle is obtained. In this paper, the Learning of Self-driving Vehicles Based on Real Driving Behavior Using Deep Neural Network Techniques (LSV-DNN) is proposed. We designed a convolutional network which uses the real driving data obtained through the vehicle’s camera and computer. The response of the driver is during driving is recorded in different situations and by converting the real driver’s driving video to images and transferring the data to an excel file, obstacle detection is carried out with the best accuracy and speed using the Yolo algorithm version 3. This way, the network learns the response of the driver to obstacles in different locations and the network is trained with the Yolo algorithm version 3 and the output of obstacle detection. Then, it outputs the steer angle and amount of brake, gas, and vehicle acceleration. The LSV-DNN is evaluated here via extensive simulations carried out in Python and TensorFlow environment. We evaluated the network error using the loss function. By comparing other methods which were conducted on the simulator’s data, we obtained good performance results for the designed network on the data from KITTI benchmark, the data collected using a private vehicle, and the data we collected.

Improving the Learning of Self-driving Vehicles Based on Real Driving Behavior using Deep Neural Network Techniques

2020 ◽  
Author(s):  
Nayere Zaghari ◽  
Mahmood Fathy ◽  
Seyed Mahdi Jameii ◽  
Mohammad Sabokrou ◽  
Mohammad Shahverdy
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Autonomous Vehicle ◽  
Driving Behavior ◽  
Obstacle Detection ◽  
Convolutional Network ◽  
The Real ◽  
Cloning Method ◽  
Vehicle Acceleration ◽  
Performance Results

Considering the significant advancements in autonomous vehicle technology, research in this field is of interest to researchers. To drive vehicles autonomously, controlling steer angle, gas hatch, and brakes need to be learned. The behavioral cloning method is used to imitate humans’ driving behavior. We created a dataset of driving in different routes and conditions and using the designed model, the output used for controlling the vehicle is obtained. In this paper, the Learning of Self-driving Vehicles Based on Real Driving Behavior Using Deep Neural Network Techniques (LSV-DNN) is proposed. We designed a convolutional network which uses the real driving data obtained through the vehicle’s camera and computer. The response of the driver is during driving is recorded in different situations and by converting the real driver’s driving video to images and transferring the data to an excel file, obstacle detection is carried out with the best accuracy and speed using the Yolo algorithm version 3. This way, the network learns the response of the driver to obstacles in different locations and the network is trained with the Yolo algorithm version 3 and the output of obstacle detection. Then, it outputs the steer angle and amount of brake, gas, and vehicle acceleration. The LSV-DNN is evaluated here via extensive simulations carried out in Python and TensorFlow environment. We evaluated the network error using the loss function. By comparing other methods which were conducted on the simulator’s data, we obtained good performance results for the designed network on the data from KITTI benchmark, the data collected using a private vehicle, and the data we collected.

scholarly journals Improving the Learning of Self-driving Vehicles Based on Real Driving Behavior using Deep Neural Network Techniques

2020 ◽  
Author(s):  
Nayereh Zaghari ◽  
Mahmood Fathy ◽  
Seyed Mahdi Jameii ◽  
Mohammad Sabokrou ◽  
Mohammad Shahverdy
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Autonomous Vehicle ◽  
Driving Behavior ◽  
Obstacle Detection ◽  
Convolutional Network ◽  
The Real ◽  
Cloning Method ◽  
Vehicle Acceleration ◽  
Performance Results

Considering the significant advancements in autonomous vehicle technology, research in this field is of interest to researchers. To drive vehicles autonomously, controlling steer angle, gas hatch, and brakes need to be learned. The behavioral cloning method is used to imitate humans’ driving behavior. We created a dataset of driving in different routes and conditions and using the designed model, the output used for controlling the vehicle is obtained. In this paper, the Learning of Self-driving Vehicles Based on Real Driving Behavior Using Deep Neural Network Techniques (LSV-DNN) is proposed. We designed a convolutional network which uses the real driving data obtained through the vehicle’s camera and computer. The response of the driver is during driving is recorded in different situations and by converting the real driver’s driving video to images and transferring the data to an excel file, obstacle detection is carried out with the best accuracy and speed using the Yolo algorithm version 3. This way, the network learns the response of the driver to obstacles in different locations and the network is trained with the Yolo algorithm version 3 and the output of obstacle detection. Then, it outputs the steer angle and amount of brake, gas, and vehicle acceleration. The LSV-DNN is evaluated here via extensive simulations carried out in Python and TensorFlow environment. We evaluated the network error using the loss function. By comparing other methods which were conducted on the simulator’s data, we obtained good performance results for the designed network on the data from KITTI benchmark, the data collected using a private vehicle, and the data we collected.

Deep Neural Network Classification of I-123 Ioflupane SPECT

2020 ◽  
Author(s):  
David T. Wang ◽  
Brady Williamson ◽  
Thomas Eluvathingal ◽  
Bruce Mahoney ◽  
Jennifer Scheler
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Neural Network Classification

Method of determination of the text direction on the image with the use of convolutional neural network

2020 ◽  
pp. 96-99
Author(s):  
P.L. Nikolaev
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Deep Neural Network ◽  
Binary Classification ◽  
Synthetic Data ◽  
Real Data ◽  
Method Of Determination ◽  
Classification Of Images

This article deals with method of binary classification of images with small text on them Classification is based on the fact that the text can have 2 directions – it can be positioned horizontally and read from left to right or it can be turned 180 degrees so the image must be rotated to read the sign. This type of text can be found on the covers of a variety of books, so in case of recognizing the covers, it is necessary first to determine the direction of the text before we will directly recognize it. The article suggests the development of a deep neural network for determination of the text position in the context of book covers recognizing. The results of training and testing of a convolutional neural network on synthetic data as well as the examples of the network functioning on the real data are presented.

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