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manavkataria / behavioral_cloning_car

Using Keras to train a deep neural network for predicting steering angles based on camera input. Trained on a Unity3D simulator.
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Image Upload #1

Open manavkataria opened 7 years ago

manavkataria commented 7 years ago

Raw Data Histogram: Asymmetric and Unbalanced

Histogram: Asymmetric and Unbalanced

Horizontally Flipped Data Histogram: Symmetric But Unbalanced

Histogram: Symmetric But Unbalanced

Fully Processed with Histogram Equalization: Symmetric and Balanced

Histogram Equalization: Symmetric and Balanced

manavkataria commented 7 years ago

Loss Function 5 Epochs

Loss Function 5 Epochs

Predictions for 120 Frames

Predictions for 120 Frames

Loss Function 30 Epochs

Loss Function 30 Epochs

Predictions for 12 Frames

Predictions for 12 Frames

manavkataria commented 7 years ago

Youtube Video

Youtube Video

manavkataria commented 7 years ago

Deep Learning Neural Network Model

model

manavkataria commented 7 years ago

Recovery: Extreme Left of Lane

center_2017_01_16_18_49_00_738

Drive Straight: Center of Lane

center_2017_01_16_18_49_02_100

Recovery: Extreme Right of Lane

center_2017_01_16_18_49_04_959