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Deep imitation learning for autonomous vehicles based on convolutional neural networks
journal contribution
posted on 2020-01-01, 00:00 authored by Parham Mohsenzadeh Kebria, Abbas KhosraviAbbas Khosravi, Syed Salaken, Saeid Nahavandi© 2014 Chinese Association of Automation. Providing autonomous systems with an effective quantity and quality of information from a desired task is challenging. In particular, autonomous vehicles, must have a reliable vision of their workspace to robustly accomplish driving functions. Speaking of machine vision, deep learning techniques, and specifically convolutional neural networks, have been proven to be the state of the art technology in the field. As these networks typically involve millions of parameters and elements, designing an optimal architecture for deep learning structures is a difficult task which is globally under investigation by researchers. This study experimentally evaluates the impact of three major architectural properties of convolutional networks, including the number of layers, filters, and filter size on their performance. In this study, several models with different properties are developed, equally trained, and then applied to an autonomous car in a realistic simulation environment. A new ensemble approach is also proposed to calculate and update weights for the models regarding their mean squared error values. Based on design properties, performance results are reported and compared for further investigations. Surprisingly, the number of filters itself does not largely affect the performance efficiency. As a result, proper allocation of filters with different kernel sizes through the layers introduces a considerable improvement in the performance. Achievements of this study will provide the researchers with a clear clue and direction in designing optimal network architectures for deep learning purposes.
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Journal
IEEE/CAA Journal of Automatica SinicaVolume
7Issue
1Pagination
82 - 95Publisher
Institute of Electrical and Electronics EngineersLocation
Piscataway, N.J.Publisher DOI
ISSN
2329-9266eISSN
2329-9274Language
engPublication classification
C1 Refereed article in a scholarly journalUsage metrics
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