Object detection for self-driving cars – Part 5

Object Detection on Sample Test Image

We will use the trained model to predict the respective classes and the corresponding bounding boxes on a sample of images. The function ‘draw’ runs a tensorflow session and calculates the confidence scores, bounding box coordinates and the output class probabilities for the given sample image. Finally, it computes the x_min, x_max, y_min, y_max from b_x,b_y,b_w,b_h, scales the bounding boxes according to the input sample image and draws the bounding boxes and class probability for the objects in the input sample image.

Fig. 7, shows the class probabilities and bounding boxes on the test images.

Fig 7. Sample images with the predicted classes and bounding boxes