画像認識による自動運転車のステアリング角予測
Self-Driving Car Steering Angle Prediction Based on Image Recognition
Udacityのデータセットを用い、転移学習・3D CNN・LSTM・ResNetを組み合わせて画像からステアリング角を高精度に予測する2つのモデルを提案した。
著者: Shuyang Du, Haoli Guo, Andrew Simpson
分類: cs.CV, cs.LG, cs.RO, stat.ML
原文アブストラクト
Self-driving vehicles have expanded dramatically over the last few years. Udacity has release a dataset containing, among other data, a set of images with the steering angle captured during driving. The Udacity challenge aimed to predict steering angle based on only the provided images. We explore two different models to perform high quality prediction of steering angles based on images using different deep learning techniques including Transfer Learning, 3D CNN, LSTM and ResNet. If the Udacity challenge was still ongoing, both of our models would have placed in the top ten of all entries.