麻省理工学院(Massachusetts Institute of Technology,MIT)是美国一所研究型私立大学,位于马萨诸塞州(麻省)的剑桥市。麻省理工学院的自然及工程科学在世界上享有极佳的盛誉,该校的工程系曾连续七届获得美国工科研究生课程冠军,其中以电子工程专业名气最响,紧跟其后的是机械工程。其管理学、经济学、哲学、政治学、语言学也同样优秀。

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【导论】麻省理工学院最近开设一门深度学习课程MIT 6.S191,共包含十大主题课程,涵盖深度学习导论、序列建模、深度视觉、生成模型、强化学习、图神经网络、对抗学习、贝叶斯模型、神经渲染、机器学习嗅觉等,图文并茂,涵盖最新的前沿内容,非常值得学习!

课程地址: http://introtodeeplearning.com/

课程介绍: 麻省理工学院的深度学习方法的导论课程,应用到计算机视觉,自然语言处理,生物学,和更多! 学生将获得深度学习算法的基础知识和在TensorFlow中构建神经网络的实践经验。先修习微积分(即求导数)和线性代数(即矩阵乘法),我们将在学习过程中尝试解释其它内容! Python方面的经验是有帮助的,但不是必需的。欢迎听众!

第一讲: 深度学习导论 Introduction to Deep Learning,101页ppt

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In the project, the vehicle was first controlled with ROS. For this purpose, the necessary nodes were prepared to be controlled with a joystick. Afterwards, DWA(Dynamic Window Approach), TEB(Timed-Elastic Band) and APF(Artificial Potential Field) path planning algorithms were applied to MIT RACECAR, respectively. These algorithms have advantages and disadvantages against each other on different issues. For this reason, a scenario was created to compare algorithms. On a curved double lane road created according to this scenario, MIT RACECAR has to follow the lanes and when it encounters an obstacle, it has to change lanes without leaving the road and pass without hitting the obstacle. In addition, an image processing algorithm was developed to obtain the position information of the lanes needed to implement this scenario. This algorithm detects the target point by processing the image taken from the ZED camera and gives the target point information to the path planning algorithm. After the necessary tools were created, the algorithms were tested against the scenario. In these tests, measurements such as how many obstacles the algorithm successfully passed, how simple routes it chose, and computational costs they have. According to these results, although it was not the algorithm that successfully passed the most obstacles, APF was chosen due to its low processing load and simple working logic. It was believed that with its uncomplicated structure, APF would also provide advantages in the future stages of the project.

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