Hands-On Vision and Behavior for Self-Driving Cars

Chapter 9: Semantic Segmentation

This is probably the most advanced chapter concerning deep learning, as we will go as far as classifying an image at a pixel level with a technique called semantic segmentation. We will use plenty of what we have learned so far, including data augmentation with generators.

We will study a very flexible and efficient neural network architecture called DenseNet in great detail, as well as its extension for semantic segmentation, FC-DenseNet, and then we will write it from scratch and train it with a dataset built with Carla.

I hope you will find this chapter inspiring and challenging. And be prepared for a long training session because our task can be quite demanding!

In this chapter, we will cover the following ...