deep learming 吴恩达 第四课第三周编程 Autonomous driving application - Car detection - v3

Autonomous driving - Car detection

Welcome to your week 3 programming assignment. You will learn about object detection using the very powerful YOLO model. Many of the ideas in this notebook are described in the two YOLO papers: Redmon et al., 2016 (https://arxiv.org/abs/1506.02640) and Redmon and Farhadi, 2016 (https://arxiv.org/abs/1612.08242).

You will learn to:

• Use object detection on a car detection dataset
• Deal with bounding boxes

Run the following cell to load the packages and dependencies that are going to be useful for your journey!

import argparse
import os
import matplotlib.pyplot as plt
from matplotlib.pyplot import imshow
import scipy.io
import scipy.misc
import numpy as np
import pandas as pd
import PIL
import tensorflow as tf
from keras import backend as K
from keras.layers import Input, Lambda, Conv2D
from keras.models import load_model, Model
from yolo_utils import read_classes, read_anchors, generate_colors, preprocess_image, draw_boxes, scale_boxes
from yad2k.models.keras_yolo import yolo_head, yolo_boxes_to_corners, preprocess_true_boxes, yolo_loss, yolo_body

%matplotlib inline

mportant Note: As you can see, we import Keras's backend as K. This means that to use a Keras function in this notebook, you will need to write: K.function(...).

1 - Problem Statement

You are working on a self-driving car. As a critical component of this project, you'd like to first build a car detection system. To collect data, you've mounted a camera to the hood (meaning the front) of the car, which takes pictures of the road ahead every few seconds while you drive around.

Pictures taken from a car-mounted camera while driving around Silicon Valley. 
We would like to especially thank drive.ai for providing this dataset! Drive.ai is a company building the brains of self-driving vehicles.

You've gathered all these images into a folder and have labelled them by drawing bounding boxes around every car you found. Here's an example of what your bounding boxes look like.

Figure 1 : Definition of a box

If you have 80 classes that you want YOLO to recognize, you can represent the class label cc either as an integer from 1 to 80, or as an 80-dimensional vector (with 80 numbers) one component of which is 1 and the rest of which are 0. The video lectures had used the latter representation; in this notebook, we will use both representations, depending on which is more convenient for a particular step.

In this exercise, you will learn how YOLO works, then apply it to car detection. Because the YOLO model is very computationally expensive to train, we will load pre-trained weights for you to use.

2 - YOLO

YOLO ("you only look once") is a popular algoritm because it achieves high accuracy while also being able to run in real-time. This algorithm "only looks once" at the image in the sense that it requires only one forward propagation pass through the network to make predictions. After non-max suppression, it then outputs recognized objects together with the bounding boxes.

2.1 - Model details

First things to know:

• The input is a batch of images of shape (m, 608, 608, 3)
• The output is a list of bounding boxes along with the recognized classes. Each bounding box is represented by 6 numbers (pc,bx,by,bh,bw,c)(pc,bx,by,bh,bw,c) as explained above. If you expand cc into an 80-dimensional vector, each bounding box is then represented by 85 numbers.

We will use 5 anchor boxes. So you can think of the YOLO architecture as the following: IMAGE (m, 608, 608, 3) -> DEEP CNN -> ENCODING (m, 19, 19, 5, 85).

Lets look in greater detail at what this encoding represents.

Figure 2 : Encoding architecture for YOLO

If the center/midpoint of an object falls into a grid cell, that grid cell is responsible for detecting that object.

Since we are using 5 anchor boxes, each of the 19 x19 cells thus encodes information about 5 boxes. Anchor boxes are defined only by their width and height.

For simplicity, we will flatten the last two last dimensions of the shape (19, 19, 5, 85) encoding. So the output of the Deep CNN is (19, 19, 425).

 

Figure 3 : Flattening the last two last dimensions

Now, for each box (of each cell) we will compute the following elementwise product and extract a probability that the box contains a certain class.

Figure 4 : Find the class detected by each box

Here's one way to visualize what YOLO is predicting on an image:

• For each of the 19x19 grid cells, find the maximum of the probability scores (taking a max across both the 5 anchor boxes and across different classes).
• Color that grid cell according to what object that grid cell considers the most likely.

Doing this results in this picture:

Figure 5 : Each of the 19x19 grid cells colored according to which class has the largest predicted probability in that cell.

Note that this visualization isn't a core part of the YOLO algorithm itself for making predictions; it's just a nice way of visualizing an intermediate result of the algorithm.

Another way to visualize YOLO's output is to plot the bounding boxes that it outputs. Doing that results in a visualization like this:

Figure 6 : Each cell gives you 5 boxes. In total, the model predicts: 19x19x5 = 1805 boxes just by looking once at the image (one forward pass through the network)! Different colors denote different classes. 

In the figure above, we plotted only boxes that the model had assigned a high probability to, but this is still too many boxes. You'd like to filter the algorithm's output down to a much smaller number of detected objects. To do so, you'll use non-max suppression. Specifically, you'll carry out these steps:

• Get rid of boxes with a low score (meaning, the box is not very confident about detecting a class)
• Select only one box when several boxes overlap with each other and detect the same object.

2.2 - Filtering with a threshold on class scores

You are going to apply a first filter by thresholding. You would like to get rid of any box for which the class "score" is less than a chosen threshold.

The model gives you a total of 19x19x5x85 numbers, with each box described by 85 numbers. It'll be convenient to rearrange the (19,19,5,85) (or (19,19,425)) dimensional tensor into the following variables:

• box_confidence: tensor of shape (19×19,5,1)(19×19,5,1) containing pcpc (confidence probability that there's some object) for each of the 5 boxes predicted in each of the 19x19 cells.
• boxes: tensor of shape (19×19,5,4)(19×19,5,4) containing (bx,by,bh,bw)(bx,by,bh,bw) for each of the 5 boxes per cell.
• box_class_probs: tensor of shape (19×19,5,80)(19×19,5,80) containing the detection probabilities (c1,c2,...c80)(c1,c2,...c80) for each of the 80 classes for each of the 5 boxes per cell.

Exercise: Implement yolo_filter_boxes().

1. Compute box scores by doing the elementwise product as described in Figure 4. The following code may help you choose the right operator:

   a = np.random.randn(19*19, 5, 1)
   b = np.random.randn(19*19, 5, 80)
   c = a * b # shape of c will be (19*19, 5, 80)
   

2. For each box, find:
   • the index of the class with the maximum box score (Hint) (Be careful with what axis you choose; consider using axis=-1)
   • the corresponding box score (Hint) (Be careful with what axis you choose; consider using axis=-1)
3. Create a mask by using a threshold. As a reminder: ([0.9, 0.3, 0.4, 0.5, 0.1] < 0.4) returns: [False, True, False, False, True]. The mask should be True for the boxes you want to keep.
4. Use TensorFlow to apply the mask to box_class_scores, boxes and box_classes to filter out the boxes we don't want. You should be left with just the subset of boxes you want to keep. (Hint)

Reminder: to call a Keras function, you should use K.function(...).

# GRADED FUNCTION: yolo_filter_boxes

def yolo_filter_boxes(box_confidence, boxes, box_class_probs, threshold = .6):
    """Filters YOLO boxes by thresholding on object and class confidence.
    
    Arguments:
    box_confidence -- tensor of shape (19, 19, 5, 1)
    boxes -- tensor of shape (19, 19, 5, 4)
    box_class_probs -- tensor of shape (19, 19, 5, 80)
    threshold -- real value, if [ highest class probability score < threshold],
    then get rid of the corresponding box
    
    Returns:
    scores -- tensor of shape (None,), containing the class probability score 
    for selected boxes
    boxes -- tensor of shape (None, 4), containing (b_x, b_y, b_h, b_w) 
    coordinates of selected boxes
    classes -- tensor of shape (None,), containing the index of the class 
    detected by the selected boxes
    
    Note: "None" is here because you don't know the exact number of selected boxes, as it depends on the threshold. 
    For example, the actual output size of scores would be (10,) if there are 10 boxes.
    """
    
    # Step 1: Compute box scores
    ### START CODE HERE ### (≈ 1 line)
    box_scores = box_confidence*box_class_probs
    ### END CODE HERE ###
    
    # Step 2: Find the box_classes thanks to the max box_scores, keep track of
    #the corresponding score
    ### START CODE HERE ### (≈ 2 lines)
    box_classes = K.argmax(box_scores, axis=-1)
    box_class_scores = K.max(box_scores, axis=-1)
    ### END CODE HERE ###
    
    # Step 3: Create a filtering mask based on "box_class_scores" by using 
    #"threshold". The mask should have the
    # same dimension as box_class_scores, and be True for the boxes you want to
    #keep (with probability >= threshold)
    ### START CODE HERE ### (≈ 1 line)
    filtering_mask = box_class_scores>=threshold
    ### END CODE HERE ###
    
    # Step 4: Apply the mask to scores, boxes and classes
    ### START CODE HERE ### (≈ 3 lines)
    scores = tf.boolean_mask(box_class_scores,filtering_mask)
    boxes = tf.boolean_mask(boxes,filtering_mask)
    classes = tf.boolean_mask(box_classes,filtering_mask)
    ### END CODE HERE ###
    
    return scores, boxes, classes

with tf.Session() as test_a:
    box_confidence = tf.random_normal([19, 19, 5, 1], mean=1, stddev=4, seed = 1)
    boxes = tf.random_normal([19, 19, 5, 4], mean=1, stddev=4, seed = 1)
    box_class_probs = tf.random_normal([19, 19, 5, 80], mean=1, stddev=4, seed = 1)
    scores, boxe