自动驾驶-利用tensorflow实现fcn对图片语义分割

上一章介绍了FCN技术，本章将结合代码介绍FCN模型在tensorflow中的实现。
FCN模型分为编码和解码部分，其中编码部分使用卷积神经网络模型，主要处理对图像进行分类的问题，而实际上已经有很多性能良好的卷积神经网络网络模型例如AlexNet、VGG16和GoogLeNet。所以在搭建FCN模型时，可以直接利用tensorflow提供的接口使用已经训练好的模型，再用1x1卷积神经网络替换全连接层，结合上采样和跳跃连接对图像进行语义分割。

构造模型

加载VGG16

使用tf.save_model.loader.load加载vgg16模型，提取模型中第7层全连接层和第3、4层的池化层。

def load_vgg(sess, vgg_path):
    """
    Load Pretrained VGG Model into TensorFlow.
    :param sess: TensorFlow Session
    :param vgg_path: Path to vgg folder, containing "variables/" and "saved_model.pb"
    :return: Tuple of Tensors from VGG model (image_input, keep_prob, layer3_out, layer4_out, layer7_out)
    """
    #   Use tf.saved_model.loader.load to load the model and weights
    vgg_tag = 'vgg16'
    vgg_input_tensor_name = 'image_input:0'
    vgg_keep_prob_tensor_name = 'keep_prob:0'
    vgg_layer3_out_tensor_name = 'layer3_out:0'
    vgg_layer4_out_tensor_name = 'layer4_out:0'
    vgg_layer7_out_tensor_name = 'layer7_out:0'

    tf.saved_model.loader.load(sess, [vgg_tag], vgg_path)
    image_input = tf.get_default_graph().get_tensor_by_name(vgg_input_tensor_name)
    keep_prob = tf.get_default_graph().get_tensor_by_name(vgg_keep_prob_tensor_name)
    layer3_out = tf.get_default_graph().get_tensor_by_name(vgg_layer3_out_tensor_name)
    layer4_out = tf.get_default_graph().get_tensor_by_name(vgg_layer4_out_tensor_name)
    layer7_out = tf.get_default_graph().get_tensor_by_name(vgg_layer7_out_tensor_name)
    return image_input, keep_prob, layer3_out, layer4_out, layer7_out

构造解码器

1. 使用1x1卷积替换全连接层输出layer7_conv；
2. 对layer7_conv逆卷积（kernel size=2）得到得到分辨率更高的layer7_trans，这一步即上采样；
3. 对上一步加载的vgg_layer4_out使用1x1卷积得到与layer7_trans维度相同的layer4_conv；
4. 将layer4_conv和layer7_trans相加，这一步即跳跃连接，输出layer4_out；
5. 对vgg_layer3_out使用1x1卷积，对layer4_out使用逆卷积（kernel size=2）上采样、相加，输出layer3_out；
6. 对layer3_out逆卷积（kernel size=8）上采样，得到和原始图像分辨率相同的输出图像；

需要注意的是在在卷积和逆卷积过程中要进行正则化，否则训练的图像会导致过拟合。

def layers(vgg_layer3_out, vgg_layer4_out, vgg_layer7_out, num_classes):
    """
    Create the layers for a fully convolutional network.  Build skip-layers using the vgg layers.
    :param vgg_layer7_out: TF Tensor for VGG Layer 7 output
    :param vgg_layer4_out: TF Tensor for VGG Layer 4 output
    :param vgg_layer3_out: TF Tensor for VGG Layer 3 output
    :param num_classes: Number of classes to classify
    :return: The Tensor for the last layer of output
    """
    layer7_conv = tf.layers.conv2d(vgg_layer7_out, num_classes, 1, 
                                   padding= 'SAME', 
                                   kernel_regularizer= tf.contrib.layers.l2_regularizer(1e-3))
    layer7_trans = tf.layers.conv2d_transpose(layer7_conv, num_classes, 4, 2, 
                                             padding= 'SAME', 
                                             kernel_regularizer= tf.contrib.layers.l2_regularizer(1e-3))
    layer4_conv = tf.layers.conv2d(vgg_layer4_out, num_classes, 1, 
                                   padding= 'SAME', 
                                   kernel_regularizer= tf.contrib.layers.l2_regularizer(1e-3))
    layer4_out = tf.add(layer7_trans, layer4_conv)
    layer4_trans = tf.layers.conv2d_transpose(layer4_out, num_classes, 4, 2, 
                                             padding= 'SAME', 
                                             kernel_regularizer= tf.contrib.layers.l2_regularizer(1e-3))
    layer3_conv = tf.layers.conv2d(vgg_layer3_out, num_classes, 1, 
                                   padding= 'SAME', 
                                   kernel_regularizer= tf.contrib.layers.l2_regularizer(1e-3))
    layer3_out = tf.add(layer3_conv, layer4_trans)

    last_layer = tf.layers.conv2d_transpose(layer3_out, num_classes, 16, 8, 
                                               padding= 'SAME', 
                                               kernel_regularizer= tf.contrib.layers.l2_regularizer(1e-3))
    return last_layer   

定义优化函数

def optimize(nn_last_layer, correct_label, learning_rate, num_classes):
    """
    Build the TensorFLow loss and optimizer operations.
    :param nn_last_layer: TF Tensor of the last layer in the neural network
    :param correct_label: TF Placeholder for the correct label image
    :param learning_rate: TF Placeholder for the learning rate
    :param num_classes: Number of classes to classify
    :return: Tuple of (logits, train_op, cross_entropy_loss)
    """
    logits = tf.reshape(nn_last_layer, (-1, num_classes))
    correct_label = tf.reshape(correct_label, (-1,num_classes))
    cross_entropy_loss = tf.reduce_mean(tf.nn.softmax_cross_entropy_with_logits(logits= logits, labels= correct_label))
    optimizer = tf.train.AdamOptimizer(learning_rate= learning_rate)
    train_op = optimizer.minimize(cross_entropy_loss)

    return logits, train_op, cross_entropy_loss

定义训练函数

def train_nn(sess, epochs, batch_size, get_batches_fn, train_op, cross_entropy_loss, input_image,
             correct_label, keep_prob, learning_rate):
    """
    Train neural network and print out the loss during training.
    :param sess: TF Session
    :param epochs: Number of epochs
    :param batch_size: Batch size
    :param get_batches_fn: Function to get batches of training data.  Call using get_batches_fn(batch_size)
    :param train_op: TF Operation to train the neural network
    :param cross_entropy_loss: TF Tensor for the amount of loss
    :param input_image: TF Placeholder for input images
    :param correct_label: TF Placeholder for label images
    :param keep_prob: TF Placeholder for dropout keep probability
    :param learning_rate: TF Placeholder for learning rate
    """
    sess.run(tf.global_variables_initializer())

    print("Training...")
    print()
    for i in range(epochs):
        print("EPOCH {} ...".format(i+1))
        for image, label in get_batches_fn(batch_size):
            _, loss = sess.run([train_op, cross_entropy_loss], 
                               feed_dict={input_image: image, correct_label: label,                                keep_prob: 0.5, learning_rate: 0.0009})
            print("Loss: = {:.3f}".format(loss))
        print()

训练模型

注意可以调节的一些超参数，batch_size, epoch， learning_rate。batch_size表示每次训练使用的训练集的数量，当训练数据分辨率高时，内存只能保存一部分训练集，使用batch_size防止内存溢出。epoh表示对所有训练集训练的次数，如果模型没有加入正则化，则随着epoch的增加，模型预测错误率呈U形，当训练次数过多是会出现过拟合，如果epoch太小则导致欠拟合。learning_rate调节的是权重增加或减少的幅度，当learning_rate太大时，权重调整幅度太大使模型不能达到最优点，当learning_rate太小，会降低训练速度。所以当模型确定以后，需要仔细调整超参数以使模型性能达到最优。

def run():
    num_classes = 2
    image_shape = (160, 576)
    data_dir = 'data'
    runs_dir = './runs'
    tests.test_for_kitti_dataset(data_dir)

    # Download pretrained vgg model
    helper.maybe_download_pretrained_vgg(data_dir)


    with tf.Session() as sess:
        # Path to vgg model
        vgg_path = os.path.join(data_dir, 'vgg')
        # Create function to get batches
        get_batches_fn = helper.gen_batch_function(os.path.join(data_dir, 'data_road/training'), image_shape)

        epochs = 50 
        batch_size = 16 

        # TF placeholders
        correct_label = tf.placeholder(tf.int32, [None, None, None, num_classes], name='correct_label')
        learning_rate = tf.placeholder(tf.float32, name='learning_rate')

        input_image, keep_prob, vgg_layer3_out, vgg_layer4_out, vgg_layer7_out = load_vgg(sess, vgg_path)

        nn_last_layer = layers(vgg_layer3_out, vgg_layer4_out, vgg_layer7_out, num_classes)

        logits, train_op, cross_entropy_loss = optimize(nn_last_layer, correct_label, learning_rate, num_classes)

        train_nn(sess, epochs, batch_size, get_batches_fn, train_op, cross_entropy_loss, input_image,
             correct_label, keep_prob, learning_rate)
helper.save_inference_samples
        helper.save_inference_samples(runs_dir, data_dir, sess, image_shape, logits, keep_prob, input_image)

使用FCN对道路进行语义分割结果

本章主要介绍了使用tensorflow实现FCN模型的过程，首先加载了训练好的VGG16卷积神经网络模型，然后提取其中的全连接层和3、4层池化层，利用1x1卷积，上采样和跳跃连接技术最后得到和输入层分辨率相同的输出层。定义优化函数，训练模型，并在结尾给出了使用FCN模型对道路进行语义分割的结果。完整的代码戳这里。

下一章介绍训练模型结果过拟合和欠拟合问题的方法。