Comparing cropping strategies
Model | Cropping | Montmeló | Simple circuit no red line | Simple circuit no line no wall | Simple circuit white road | Simple circuit white road no line |
---|---|---|---|---|---|---|
Explicit | - | ✅ | ❌ | ❌ | ✅ | ❌ |
PilotNet | Normal | ✅ | ❌ | ✅ | ✅ | ❌ |
PilotNet | NEW | ✅✅ | ❌ | ✅(over the grass) | ✅ | ❌ |
Deepest LSTM | Normal | ✅ | ❌ | ✅ | ❌ | ❌ |
Deepest LSTM | NEW | ✅✅ | ❌ | ✅ | ❌ | ❌ |
Best PilotNet 3D | Normal | ✅(lowering rate) | ❌ | ❌ | ✅ | ❌ |
Best PilotNet 3D | NEW | ✅ | ❌ | ❌ | ✅ | ❌ |
Best Deepest LSTM 3D | Normal | ✅(lowering rate) | ✅ | ❌ | ❌ | ❌ |
Best Deepest LSTM 3D | NEW | ✅ | ❌ | ❌ | ❌ | ❌ |
Frankenstein (x3) | Normal | ✅(lowering rate) | ✅ | ✅(over the grass) | ✅ | ❌(last turns) |
Frankenstein (x3) | NEW | ✅ | ❌ | ✅(over the grass) | ✅ | ✅ |
Example image | Normal | |||||
Example image | NEW |
Best Frankenstein model: 20211229-161232_pilotnet_model_lstm_100_albumentations_depth_3_extreme_imgs_3dcnn_no_shuffle_cp.h5
Conclusions
Modifying the cropping of the input image in test time seems to help on the normal circuits (those close to the training images), whereas it doesn’t help when the circuit is modified.