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Semantic Segmentation

Introduction

In this project, we will 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:

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.

Implementation

Run

Run the following command to run the project:

python main.py

The project was ran for 20 epochs with a batch size of 2, the learning rate was 9e-5

Results
Pic1 Pic2
Pic3 Pic4

Loss Curve

Loss function

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 forum 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.