Good work! I did this project as well about a week ago. I will shamelessly also share my writings on this project: https://medium.com/towards-data-science/teaching-cars-to-see... .

The HOG + SVM method is quite slow and not as accurate as a deep learning approach. Before jumping onto semantic segmentation, I recommend re-implementing this project or more generally solve this problem using a Regional Convolution Neural Network architecture (R-CNN) like Faster R-CNN[1] or YOLO[2] for instance.

[1]: https://arxiv.org/abs/1506.01497 [2]: https://arxiv.org/abs/1506.02640