Self-Driving Car Steering Angle Prediction Based on Image Recognition
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Abstract (arXiv)
Self-driving vehicles have expanded dramatically over the last few years. Udacity has release a dataset containing, among other data, a set of images with the steering angle captured during driving. The Udacity challenge aimed to predict steering angle based on only the provided images. We explore two different models to perform high quality prediction of steering angles based on images using different deep learning techniques including Transfer Learning, 3D CNN, LSTM and ResNet. If the Udacity challenge was still ongoing, both of our models would have placed in the top ten of all entries.
Key facts. Cited by 15 papers in the map (data through 14 Oct 2026). First posted on arXiv 11 Dec 2019.
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Citing papers per year: 2021: 4; 2022: 5; 2023: 3; 2024: 2; 2025: 1.
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- 2021Deep Federated Learning for Autonomous Drivingcited by 54
- 2022A Data-Based Perspective on Transfer Learningcited by 32
- 2022When does Bias Transfer in Transfer Learning?cited by 23
- 2021Real-time End-to-End Federated Learning: An Automotive Case Studycited by 15
- 2024Deep Reinforcement Learning in Autonomous Car Path Planning and Control: A Surveycited by 5
- 2022An Exploratory Study of AI System Risk Assessment from the Lens of Data Distribution and Uncertaintycited by 3
- 2023Confidence-based federated distillation for vision-based lane-centeringcited by 3
- 2023Supporting Safety Analysis of Image-processing DNNs through Clustering-based Approachescited by 2
- 2021Vision-Guided Forecasting -- Visual Context for Multi-Horizon Time Series Forecastingcited by 1
- 2022Self-supervised Wide Baseline Visual Servoing via 3D Equivariancecited by 1
- 2024Behavioral Cloning Models Reality Check for Autonomous Drivingcited by 1
- 2021Brain-Inspired Deep Imitation Learning for Autonomous Driving Systemscited by 0
- 2025SoftStep: Learning Sparse Similarity Powers Deep Neighbor-Based Regression9 Jun 2025
- 2024Behavioral Cloning Models Reality Check for Autonomous Driving11 Sep 2024
- 2024Deep Reinforcement Learning in Autonomous Car Path Planning and Control: A Survey30 Mar 2024
- 2023Augmenting End-to-End Steering Angle Prediction with CAN Bus Data22 Oct 2023
- 2023Confidence-based federated distillation for vision-based lane-centering5 Jun 2023
- 2023Supporting Safety Analysis of Image-processing DNNs through Clustering-based Approaches31 Jan 2023
- 2022An Exploratory Study of AI System Risk Assessment from the Lens of Data Distribution and Uncertainty13 Dec 2022
- 2022Enhancing Accuracy and Robustness of Steering Angle Prediction with Attention Mechanism21 Nov 2022
- 2022Self-supervised Wide Baseline Visual Servoing via 3D Equivariance12 Sep 2022
- 2022A Data-Based Perspective on Transfer Learning12 Jul 2022
- 2022When does Bias Transfer in Transfer Learning?6 Jul 2022
- 2021Deep Federated Learning for Autonomous Driving12 Oct 2021
- 2021Deep Federated Learning for Autonomous Drivingcited by 54
- 2021Brain-Inspired Deep Imitation Learning for Autonomous Driving Systemscited by 0
- 2021Deep Federated Learning for Autonomous Driving12 Oct 2021
- 2021Brain-Inspired Deep Imitation Learning for Autonomous Driving Systems30 Jul 2021
- 2022A Data-Based Perspective on Transfer Learningcited by 32
- 2022When does Bias Transfer in Transfer Learning?cited by 23
- 2021Real-time End-to-End Federated Learning: An Automotive Case Studycited by 15
- 2022An Exploratory Study of AI System Risk Assessment from the Lens of Data Distribution and Uncertaintycited by 3
- 2023Confidence-based federated distillation for vision-based lane-centeringcited by 3
- 2023Supporting Safety Analysis of Image-processing DNNs through Clustering-based Approachescited by 2
- 2021Vision-Guided Forecasting -- Visual Context for Multi-Horizon Time Series Forecastingcited by 1
- 2022Self-supervised Wide Baseline Visual Servoing via 3D Equivariancecited by 1
- 2022Enhancing Accuracy and Robustness of Steering Angle Prediction with Attention Mechanismcited by 0
- 2023Augmenting End-to-End Steering Angle Prediction with CAN Bus Datacited by 0
- 2025SoftStep: Learning Sparse Similarity Powers Deep Neighbor-Based Regressioncited by 0
- 2025SoftStep: Learning Sparse Similarity Powers Deep Neighbor-Based Regression9 Jun 2025
- 2023Augmenting End-to-End Steering Angle Prediction with CAN Bus Data22 Oct 2023
- 2023Confidence-based federated distillation for vision-based lane-centering5 Jun 2023
- 2023Supporting Safety Analysis of Image-processing DNNs through Clustering-based Approaches31 Jan 2023
- 2022An Exploratory Study of AI System Risk Assessment from the Lens of Data Distribution and Uncertainty13 Dec 2022
- 2022Enhancing Accuracy and Robustness of Steering Angle Prediction with Attention Mechanism21 Nov 2022
- 2022Self-supervised Wide Baseline Visual Servoing via 3D Equivariance12 Sep 2022
- 2022A Data-Based Perspective on Transfer Learning12 Jul 2022
- 2022When does Bias Transfer in Transfer Learning?6 Jul 2022
- 2021Vision-Guided Forecasting -- Visual Context for Multi-Horizon Time Series Forecasting27 Jul 2021
- 2021Real-time End-to-End Federated Learning: An Automotive Case Study22 Mar 2021