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Deep Learning for Autonomous Collision Avoidance
Linköping University, Department of Electrical Engineering, Computer Vision.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Deep learning has been rapidly growing in recent years obtaining excellent results for many computer vision applications, such as image classification and object detection. One aspect for the increased popularity of deep learning is that it mitigates the need for hand-crafted features. This thesis work investigates deep learning as a methodology to solve the problem of autonomous collision avoidance for a small robotic car. To accomplish this, transfer learning is used with the VGG16 deep network pre-trained on ImageNet dataset. A dataset has been collected and then used to fine-tune and validate the network offline. The deep network has been used with the robotic car in a real-time manner. The robotic car sends images to an external computer, which is used for running the network. The predictions from the network is sent back to the robotic car which takes actions based on those predictions. The results show that deep learning has great potential in solving the collision avoidance problem.

Place, publisher, year, edition, pages
2018. , p. 48
Keywords [en]
deep learning, collision avoidance, convolutional neural networks, transfer learning, fine-tuning
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:liu:diva-147693ISRN: LiTH-ISY-EX--18/5115--SEOAI: oai:DiVA.org:liu-147693DiVA, id: diva2:1204063
External cooperation
MindRoad
Subject / course
Computer science
Presentation
2018-03-27, Linköping, 13:30 (English)
Supervisors
Examiners
Available from: 2018-05-07 Created: 2018-05-06 Last updated: 2018-05-07Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf