Deep Learning for Robot Perception and Cognition

Chapter 3: Convolutional neural networks

Jenni Raitoharju^a,b    aFinnish Environment Institute, Programme for Environmental Information, Jyväskylä, Finland^bFaculty of Information Technology and Communication Sciences, Tampere University, Tampere, Finland

Abstract

Convolutional neural networks (CNNs) have been a core element in the recent great advances of deep learning. This chapter introduces the basic concepts related to CNNs. The first part of the chapter focuses on the CNN structure and describes common layer types with the main focus on the convolutional layers. Some of the most famous CNN architectures are also briefly presented. The second part of the chapter focuses on training of CNNs. This part first describes how backpropagation is performed ...