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  • EE4213-Robotics and Mechatronics-Lecture AI 8

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    Chanuka Wickramasinghe
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    This document provides an overview of convolutional neural networks (CNNs) for robotics. It discusses starting with supervised learning and loading data to train a model using backpropagation of error. It describes feedforward neural networks and how CNNs use convolution operations with kernels and pooling to reduce the size of feature maps in a hierarchical way to learn features from image data. The document outlines CNN architecture with stages of convolution and pooling layers for feature extraction followed by dense layers for classification. It provides an example of a CNN architecture and fashion MNIST dataset. Finally, it briefly discusses the Keras sequential and functional APIs for building CNN models in TensorFlow.

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    This document provides an overview of convolutional neural networks (CNNs) for robotics. It discusses starting with supervised learning and loading data to train a model using backpropagation of error. It describes feedforward neural networks and how CNNs use convolution operations with kernels and pooling to reduce the size of feature maps in a hierarchical way to learn features from image data. The document outlines CNN architecture with stages of convolution and pooling layers for feature extraction followed by dense layers for classification. It provides an example of a CNN architecture and fashion MNIST dataset. Finally, it briefly discusses the Keras sequential and functional APIs for building CNN models in TensorFlow.

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    © All Rights Reserved
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    15 views24 pages

    EE4213-Robotics and Mechatronics-Lecture AI 8

    Uploaded by

    Chanuka Wickramasinghe
    This document provides an overview of convolutional neural networks (CNNs) for robotics. It discusses starting with supervised learning and loading data to train a model using backpropagation of error. It describes feedforward neural networks and how CNNs use convolution operations with kernels and pooling to reduce the size of feature maps in a hierarchical way to learn features from image data. The document outlines CNN architecture with stages of convolution and pooling layers for feature extraction followed by dense layers for classification. It provides an example of a CNN architecture and fashion MNIST dataset. Finally, it briefly discusses the Keras sequential and functional APIs for building CNN models in TensorFlow.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 24

    AI for Robotics

    Robotics and Mechatronics

    CNN with Python

    Lecture 8

    By
    Prof. Buddhika Jayasekara
    buddhikaj@uom.lk
    AI
    technique
    Natural
    Intelligence
    Intelligent Solution

    Physical
    presence
    (Hardware/
    Software)

    11/5/2021 7:07 AM 2
    Starting with Supervised Learning
    ❑ Load in data ( X and t)
    ❑ Instantiate model
    ❑ train (fit) model
    ❑ Evaluate model
    Backpropagation of Error
    Input space

    Target space
    X

    t
    10

    8
    Tartget values

    0
    0 1 2 3 4 5 6 7 8 9 10
    X values

    Feed forward neural network


    3
    ANN and Deep Leaning

    ❑ Deep - ANN
    Wide

    Deep

    4
    Convolutional Neural Network (CNN)

    ❑ Convolutional neural network – Neural network with


    convolution
    ❑ What is convolution operation
    ▪ Modify shape of a function by other function
    ▪ Example- image modifications, blurr, edge detector

    5
    Convolutional Neural Network (CNN)

    6
    Convolutional Neural Network (CNN)

    7
    Stride
    ❑ Stride refers to the number of pixels the kernel filter will skip

    8
    Pooling

    ❑ Pooling provides translational invariance by subsampling


    ❑ reduces the size of the feature maps

    9
    Convolutional Neural Network (CNN)

    ❑ E.g. datasets
    ▪ MNIST – 28x28=784 input vector
    ▪ CIFAR-10 – 32x32x3 =3072 input vector
    ▪ With modern CNN, 224x224x3 -150000+ features
    ▪ HD image of 1280*720*3 -2.8 million

    ❑ Difficult to handle by dense layer

    ❑ Use of convolution layers

    10
    CNN Architecture

    ❑ Stage 1: series of convolution and pooling layers


    ▪ Feature transformer/ detector
    ❑ Stage 2: series of dense layers
    ▪ Feature classifier

    11
    CNN Architecture

    ❑ Convolution followed by pooling

    12
    CNN Architecture

    ❑ Convolution followed by pooling


    ▪ Input image shrinks
    ▪ Filter is the same and learn relatively larger patterns relative to image
    ▪ Learns hierarchical features

    13
    CNN Architecture

    14
    CNN -Example

    15
    Fashion mnist - Dataset

    16
    Keras: Sequential vs. Functional API

    https://www.tensorflow.org/api_docs/python/tf/keras/Sequential

    Self study

    https://www.tensorflow.org/guide/keras/functional 17
    18
    19
    20
    21
    22
    23
    Assignment

    ❑ Will be available in Moddle

    24

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