# Self-Driving Car Steering Angle Prediction Based on Image Recognition

arXiv: https://arxiv.org/abs/1912.05440 · HTML: https://mlsanity.com/paper/1912.05440/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Dec 2019.

## Built on by (most cited first, 15 of 15)

- [Deep Federated Learning for Autonomous Driving](https://mlsanity.com/paper/2110.05754/) (2021)
- [A Data-Based Perspective on Transfer Learning](https://mlsanity.com/paper/2207.05739/) (2022)
- [When does Bias Transfer in Transfer Learning?](https://mlsanity.com/paper/2207.02842/) (2022)
- [Real-time End-to-End Federated Learning: An Automotive Case Study](https://mlsanity.com/paper/2103.11879/) (2021)
- [Deep Reinforcement Learning in Autonomous Car Path Planning and Control: A Survey](https://mlsanity.com/paper/2404.00340/) (2024)
- [An Exploratory Study of AI System Risk Assessment from the Lens of Data Distribution and Uncertainty](https://mlsanity.com/paper/2212.06828/) (2022)
- [Confidence-based federated distillation for vision-based lane-centering](https://mlsanity.com/paper/2306.03222/) (2023)
- [Supporting Safety Analysis of Image-processing DNNs through Clustering-based Approaches](https://mlsanity.com/paper/2301.13506/) (2023)
- [Vision-Guided Forecasting -- Visual Context for Multi-Horizon Time Series Forecasting](https://mlsanity.com/paper/2107.12674/) (2021)
- [Self-supervised Wide Baseline Visual Servoing via 3D Equivariance](https://mlsanity.com/paper/2209.05432/) (2022)
- [Behavioral Cloning Models Reality Check for Autonomous Driving](https://mlsanity.com/paper/2409.07218/) (2024)
- [Brain-Inspired Deep Imitation Learning for Autonomous Driving Systems](https://mlsanity.com/paper/2107.14654/) (2021)
- [Enhancing Accuracy and Robustness of Steering Angle Prediction with Attention Mechanism](https://mlsanity.com/paper/2211.11133/) (2022)
- [Augmenting End-to-End Steering Angle Prediction with CAN Bus Data](https://mlsanity.com/paper/2310.14162/) (2023)
- [SoftStep: Learning Sparse Similarity Powers Deep Neighbor-Based Regression](https://mlsanity.com/paper/2506.08139/) (2025)

## 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.