• This repository has been archived on 25/Nov/2021
  • Stars
    star
    186
  • Rank 200,590 (Top 5 %)
  • Language
    Python
  • License
    MIT License
  • Created almost 7 years ago
  • Updated 11 months ago

Reviews

There are no reviews yet. Be the first to send feedback to the community and the maintainers!

Repository Details

Deprecated Repository

This repository is deprecated. Currently enrolled learners, if any, can:

Semantic Segmentation

Introduction

In this project, you'll label the pixels of a road in images using a Fully Convolutional Network (FCN).

Setup

GPU

main.py will check to make sure you are using GPU - if you don't have a GPU on your system, you can use AWS or another cloud computing platform.

Frameworks and Packages

Make sure you have the following is installed:

You may also need Python Image Library (PIL) for SciPy's imresize function.

Dataset

Download the Kitti Road dataset from here. Extract the dataset in the data folder. This will create the folder data_road with all the training a test images.

Start

Implement

Implement the code in the main.py module indicated by the "TODO" comments. The comments indicated with "OPTIONAL" tag are not required to complete.

Run

Run the following command to run the project:

python main.py

Note: If running this in Jupyter Notebook system messages, such as those regarding test status, may appear in the terminal rather than the notebook.

Example Outputs

Here are examples of a sufficient vs. insufficient output from a trained network:

Sufficient Result Insufficient Result
Sufficient Insufficient

Submission

  1. Ensure you've passed all the unit tests.
  2. Ensure you pass all points on the rubric.
  3. Submit the following in a zip file.
  • helper.py
  • main.py
  • project_tests.py
  • Newest inference images from runs folder (all images from the most recent run)

Tips

  • The link for the frozen VGG16 model is hardcoded into helper.py. The model can be found here.
  • The model is not vanilla VGG16, but a fully convolutional version, which already contains the 1x1 convolutions to replace the fully connected layers. Please see this post for more information. A summary of additional points, follow.
  • The original FCN-8s was trained in stages. The authors later uploaded a version that was trained all at once to their GitHub repo. The version in the GitHub repo has one important difference: The outputs of pooling layers 3 and 4 are scaled before they are fed into the 1x1 convolutions. As a result, some students have found that the model learns much better with the scaling layers included. The model may not converge substantially faster, but may reach a higher IoU and accuracy.
  • When adding l2-regularization, setting a regularizer in the arguments of the tf.layers is not enough. Regularization loss terms must be manually added to your loss function. otherwise regularization is not implemented.

Why Layer 3, 4 and 7?

In main.py, you'll notice that layers 3, 4 and 7 of VGG16 are utilized in creating skip layers for a fully convolutional network. The reasons for this are contained in the paper Fully Convolutional Networks for Semantic Segmentation.

In section 4.3, and further under header "Skip Architectures for Segmentation" and Figure 3, they note these provided for 8x, 16x and 32x upsampling, respectively. Using each of these in their FCN-8s was the most effective architecture they found.

Optional sections

Within main.py, there are a few optional sections you can also choose to implement, but are not required for the project.

  1. Train and perform inference on the Cityscapes Dataset. Note that the project_tests.py is not currently set up to also unit test for this alternate dataset, and helper.py will also need alterations, along with changing num_classes and input_shape in main.py. Cityscapes is a much more extensive dataset, with segmentation of 30 different classes (compared to road vs. not road on KITTI) on either 5,000 finely annotated images or 20,000 coarsely annotated images.
  2. Add image augmentation. You can use some of the augmentation techniques you may have used on Traffic Sign Classification or Behavioral Cloning, or look into additional methods for more robust training!
  3. Apply the trained model to a video. This project only involves performing inference on a set of test images, but you can also try to utilize it on a full video.

Using GitHub and Creating Effective READMEs

If you are unfamiliar with GitHub , Udacity has a brief GitHub tutorial to get you started. Udacity also provides a more detailed free course on git and GitHub.

To learn about REAMDE files and Markdown, Udacity provides a free course on READMEs, as well.

GitHub also provides a tutorial about creating Markdown files.

More Repositories

1

self-driving-car

The Udacity open source self-driving car project
Jupyter Notebook
6,072
star
2

deep-learning-v2-pytorch

Projects and exercises for the latest Deep Learning ND program https://www.udacity.com/course/deep-learning-nanodegree--nd101
Jupyter Notebook
4,963
star
3

deep-reinforcement-learning

Repo for the Deep Reinforcement Learning Nanodegree program
Jupyter Notebook
4,528
star
4

deep-learning

Repo for the Deep Learning Nanodegree Foundations program.
Jupyter Notebook
3,940
star
5

machine-learning

Content for Udacity's Machine Learning curriculum
Jupyter Notebook
3,825
star
6

self-driving-car-sim

A self-driving car simulator built with Unity
C#
3,810
star
7

Sunshine-Version-2

The official repository for Developing Android Apps
Java
2,886
star
8

ud851-Exercises

Java
2,048
star
9

ud851-Sunshine

Java
2,014
star
10

ud120-projects

Starter project code for students taking Udacity ud120
DIGITAL Command Language
1,586
star
11

cs344

Introduction to Parallel Programming class code
Cuda
1,227
star
12

frontend-nanodegree-resume

This repository is used for one of the projects in Udacity's Front-End Web Developer Nanodegree program. Learn how to become a Front-End Developer today with line-by-line code reviewed projects and get a job with career services!
JavaScript
1,183
star
13

course-collaboration-travel-plans

CSS
1,162
star
14

DSND_Term2

Contains files related to content and project of DSND Term 2
Jupyter Notebook
1,095
star
15

CarND-LaneLines-P1

Lane Finding Project for Self-Driving Car ND
Jupyter Notebook
779
star
16

CVND_Exercises

Exercise notebooks for CVND.
Jupyter Notebook
744
star
17

ud777-writing-readmes

Supplemental material for Udacity's "Writing READMEs" course
698
star
18

ud839_Miwok

Java
696
star
19

ud867

Course code repository for Gradle for Android and Java
Java
664
star
20

artificial-intelligence-for-trading

Content for Udacity's AI in Trading NanoDegree.
Jupyter Notebook
646
star
21

ud862-samples

Java
585
star
22

AIPND

Code and associated files for the AI Programming with Python Nanodegree Program
Jupyter Notebook
541
star
23

create-your-own-adventure

This is example repo illustrates the concept of a "Pull Request", created as part of the course How to Use Git and GitHub
Shell
503
star
24

ud891

Google and Udacity course on Accessibility.
JavaScript
498
star
25

CarND-Term1-Starter-Kit

Python
497
star
26

Just-Java

The official repository for the second Android Development for Beginners App : Just Java
Java
497
star
27

sagemaker-deployment

Code and associated files for the deploying ML models within AWS SageMaker
Jupyter Notebook
463
star
28

CarND-Advanced-Lane-Lines

Shell
454
star
29

artificial-intelligence

Python
441
star
30

private-ai

Repo for Udacity's Secure & Private AI course
Jupyter Notebook
441
star
31

ud839_CustomAdapter_Example

Java
439
star
32

Advanced_Android_Development

Repo for the Advanced Android App Development course
Java
429
star
33

CarND-Behavioral-Cloning-P3

Starting files for the Udacity CarND Behavioral Cloning Project
Python
425
star
34

cn-deep-learning

Jupyter Notebook
422
star
35

Full-Stack-Foundations

Solution Code to Full Stack Foundations (ud088)
Python
400
star
36

fullstack-nanodegree-vm

Python
372
star
37

CarND-Traffic-Sign-Classifier-Project

Classify Traffic Signs.
Jupyter Notebook
362
star
38

DL_PyTorch

Code for the Deep Learning with PyTorch lesson
Jupyter Notebook
358
star
39

ML_SageMaker_Studies

Case studies, examples, and exercises for learning to deploy ML models using AWS SageMaker.
Jupyter Notebook
355
star
40

ud843-QuakeReport

Discover earthquake activity around the world.
Java
350
star
41

frontend-nanodegree-mobile-portfolio

JavaScript
344
star
42

ud615

Course code for Scalable Microservices with Kubernetes
Go
338
star
43

cs291

Interactive 3D Graphics class code
JavaScript
319
star
44

CarND-Extended-Kalman-Filter-Project

Self-Driving Car Nanodegree Program Starter Code for the Extended Kalman Filter Project
C++
315
star
45

SFND_Lidar_Obstacle_Detection

C++
307
star
46

CarND-Path-Planning-Project

Create a path planner that is able to navigate a car safely around a virtual highway
C++
306
star
47

and-nd-firebase

Course code repository for Firebase in a Weekend by Google: Android
Java
299
star
48

robot_pose_ekf

The robot_pose_ekf ROS package applies sensor fusion on the robot IMU and odometry values to estimate its 3D pose.
C++
293
star
49

frontend-nanodegree-arcade-game

JavaScript
284
star
50

fend

General Front End Nanodegree Content Resources
CSS
275
star
51

FSND

Public repository for the Full-Stack Nanodegree program.
Python
272
star
52

devops-intro-project

Project files for Intro to DevOps class
Shell
269
star
53

rl-cheatsheet

RL Notation and Pseudocode for Udacity's MLND program
TeX
269
star
54

Court-Counter

The official repository for the third Android Development for Beginners App : CourtCounter
Java
264
star
55

Android_Me

App that lets you style your own Android! This uses Fragments to create a flexible and responsive UI.
Java
260
star
56

APIs

Code Repo for API course in Fullstack ND
Python
257
star
57

CarND-Vehicle-Detection

Vehicle Detection Project
Shell
252
star
58

CarND-MPC-Project

CarND Term 2 Model Predictive Control (MPC) Project
C++
251
star
59

nd064_course_1

Python
249
star
60

reactnd-project-myreads-starter

Starter Code for the React MyReads Project
JavaScript
247
star
61

DSND_Term1

Contains files related to content and project of DSND
Jupyter Notebook
247
star
62

ud845-Pets

Java
243
star
63

data-analyst

Content for Udacity's Data Analyst curriculum
HTML
240
star
64

AIND-NLP

Coding exercises for the Natural Language Processing concentration, part of Udacity's AIND program.
Jupyter Notebook
239
star
65

P1_Facial_Keypoints

First project for CVND: facial keypoint detection.
Jupyter Notebook
220
star
66

frontend-nanodegree-styleguide

Official FEND style guides
HTML
220
star
67

dermatologist-ai

Python
208
star
68

NLP-Exercises

Jupyter Notebook
198
star
69

nd1309-work-code

Include for each Part in the ND Program the applications code.
JavaScript
193
star
70

nd9991-c2-Infrastructure-as-Code-v1

Repository for starter code and supporting material
Shell
192
star
71

frontend-nanodegree-styleguide-zh

优达学城(Udacity)前端样式指南
HTML
192
star
72

CarND-Camera-Calibration

Images and notebook for camera calibration
Jupyter Notebook
192
star
73

andfun-kotlin-android-trivia

Kotlin
189
star
74

ud864

Public repository for code examples used in Udacity's Google Maps APIs course (https://www.udacity.com/course/google-maps-apis--ud864).
HTML
188
star
75

CarND-Capstone

CMake
187
star
76

dog-project

Jupyter Notebook
182
star
77

DevOps_Microservices

Supporting material and projects for a course on Cloud DevOps: Microservices.
Jupyter Notebook
181
star
78

ud811

Course materials for Udacity's Intro to Progressive Web Apps course at https://www.udacity.com/course/intro-to-progressive-web-apps--ud811
JavaScript
178
star
79

ShoppingListPlusPlus

ShoppingListPlusPlus is the companion Android app for the Udacity course Firebase Essentials : Build a Collaborative Shopping List App. https://www.udacity.com/course/firebase-essentials-for-android--ud009
Java
176
star
80

CppND-Route-Planning-Project

C++
173
star
81

reactnd-contacts-complete

Code-along project for the Contacts app
JavaScript
171
star
82

ud405

Code supporting the free Udacity class 2D Game Development with LibGDX.
Java
171
star
83

ud859

Course code for Building Scalable Apps with Google App Engine class
Java
170
star
84

ios-nd-networking

Resources for Udacity's iOS Networking with Swift course.
Swift
168
star
85

course-git-blog-project

Sample repo of a blog for the Git course
HTML
168
star
86

intro-to-ml-tensorflow

Projects and exercises for the Udacity Intro to Machine Learning with TensorFlow course
Jupyter Notebook
159
star
87

CarND-Mercedes-SF-Utilities

Tools for Sensor Fusion processing.
Jupyter Notebook
158
star
88

AIND-Sudoku

Python
156
star
89

course-JS-and-the-DOM

JavaScript
155
star
90

didi-competition

Resources for the Udacity/Didi $100k competition
Python
153
star
91

exoplanet-explorer

Learn more about Exoplanets! (built for Promises course)
HTML
146
star
92

ud989-cat-clicker-premium-vanilla

ud989-cat-clicker-premium-vanilla
JavaScript
146
star
93

ud989-retain

JavaScript
146
star
94

CVND---Image-Captioning-Project

Jupyter Notebook
145
star
95

nd9991-c2-Infrastructure-as-Code-v1-Exercises_Solution

This repository contains the solution to the exercises given in the last concept of each Lesson 1 to Lesson 5.
142
star
96

AdvancedAndroid_Emojify

Java
141
star
97

JDND

Public repository for the Java Developer Nanodegree program.
Java
141
star
98

nd027-c3-data-lakes-with-spark

Python
141
star
99

CppND-Capstone-Snake-Game

A 2D Snake game using C++ and SDL
C++
139
star
100

cloudflare-typescript-workers

Types and mocks for building a tested Typescript Cloudflare Worker, generates three NPM packages
TypeScript
139
star