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Autonomous Vehicle Speed Estimation from dashboard cam
github linkedin @jonathancmitch Final Result: In this tutorial I will explain how to use optical flow analysis and Convolutional neural networks to estimate the speed of a car using a video.mp4 and a ground truth dataset data.json consisting of the speed of the car at each frame, and the time that each frame was taken in the video.
Yes, there is a way to automatically process each image in the video frame by frame and it is more computationally efficient than saving the video images to disk.
I chose to create a .csv file and a separate IMG folder so that I could work with the image paths directly and disregard the video.
If we think in terms of classical mechanics, you can estimate the position of an object based on a single frame, but to estimate the velocity you need at least two frames because you need a time reference.
To calculate acceleration, which is the change in velocity, we will need ~3 frames, because we will need to calculate how the velocity (2 frames) changes over time (3rd frame).
When we train our network we want to pass in shuffled data, because we don’t want it to learn the video sequence as is, we want it to be able to generalize to any video, and any given sub-sequence.
You can augment the brightness to each image by different values, but that may create additional noise / disturbance that can throw off our discernible metric.
Optical Flow: Two types Type1: Lucas Kanade method The Lucas Kanade method computes the sparse optical flow the LK method computes optical flow at well detected image references.
For validation data: For training data: Generators: It is very efficient to use generators to actually process the images because most machines do not have enough memory to hold all the images when batching.
Training parameters: Optimizer: Adam loss: MSE Samples per epoch: 400 Batches per sample: 32 images, 16 optical flow rgb_diffs I
In order to prevent over-fitting the dataset I used keras’ callbacks to stop training when the validation loss stopped increasing, and to save the best weights at that point.
Remember, after we train the model I want to use the weights to perform linear regression: where I will simply take my weight matrix and multiply it with the input to predict the speed.
I applied this method to check how well it would work for my model and I got this: As you can see, in the later frames, when my car is on the freeway (between 3000 and 3900) it does not estimate the speed well at all.
I started with a (66, 220, r, g, b) image and ended with a (66, 220, r, g, b, A, M) (A = angles, M = magnitude) tensor.
I will soon try to expand some of my network layers, changing the first convolutional layer filter depth from 24 to 34 and the second filter depth from 34 to 44.
- On 26. februar 2021
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