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Understanding of Convolutional Neural Network (CNN): A Review

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 International Journal of Robotics and Control Systems

IJRCS Vol. 2, No. 4, 2022, pp. 739-748

ISSN 2775-2658
http://pubs2.ascee.org/index.php/ijrcs

Understanding of Convolutional Neural Network (CNN): A

Review
Purwono a,1, Alfian Ma’arif b,2,*, Wahyu Rahmaniar c,3, Haris Imam Karim Fathurrahman b,4,
Aufaclav Zatu Kusuma Frisky d,e,5, Qazi Mazhar ul Haq f,6
a Universitas Harapan Bangsa, Jl. Raden Patah No. 100 Kedunglongsir Ledug Kembaran, Banyumas 53182, Indonesia
b Department of Electrical Engineering, Universitas Ahmad Dahlan, Banguntapan, Bantul, Yogyakarta 55191, Indonesia
c Department of Electronic Engineering, National Taipei University of Technology, Taipei 10608, Taiwan
d Institute of Visual Computing & Human-Centered Technology, Technische Universität Wien, Vienna 1040, Austria
e Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta
f Department of Computer Software Engineering, National University of Sciences and Technology, Islamabad, Pakistan
1 [email protected]; 2 [email protected]; 3 [email protected]; 4 [email protected];
5 [email protected]; 6 [email protected]

* Corresponding Author

ARTICLE INFO ABSTRACT

The application of deep learning technology has increased rapidly in recent

Article history years. Technologies in deep learning increasingly emulate natural human
Received November 10, 2022 abilities, such as knowledge learning, problem-solving, and decision-
Revised December 15, 2022
making. In general, deep learning can carry out self-training without
Accepted January 15, 2023
repetitive programming by humans. Convolutional neural networks
(CNNs) are deep learning algorithms commonly used in wide applications.
Keywords
CNN is often used for image classification, segmentation, object detection,
Deep Learning;
Artificial Intelligence;
video processing, natural language processing, and speech recognition.
Machine Learning; CNN has four layers: convolution layer, pooling layer, fully connected
Convolutional Neural layer, and non-linear layer. The convolutional layer uses kernel filters to
Network; calculate the convolution of the input image by extracting the fundamental
Computer Vision; features. The pooling layer combines two successive convolutional layers.
Image Processing The third layer is the fully connected layer, commonly called the
convolutional output layer. The activation function defines the output of a
neural network, such as 'yes' or 'no'. The most common and popular CNN
activation functions are Sigmoid, Tanh, ReLU, Leaky ReLU, Noisy ReLU,
and Parametric Linear Units. The organization and function of the visual
cortex greatly influence CNN architecture because it is designed to
resemble the neuronal connections in the human brain. Some of the popular
CNN architectures are LeNet, AlexNet and VGGNet.

This is an open-access article under the CC–BY-SA license.

1. Introduction
In recent years, deep learning technology has been used in various sectors. Deep learning has
developed human-like abilities, such as knowledge learning, problem-solving, and decision-making
[1]. Big companies have tried to adopt the latest digital technologies, including the Internet of Things
(IoT), Big Data, Artificial Intelligence (AI), and Blockchain [2]. Deep learning technology is a
development of machine learning and Artificial Intelligence (AI) [3].

http://dx.doi.org/10.31763/ijrcs.v2i4.888 [email protected]
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In general, machine learning and deep learning can perform self-training without repetitive
programming by humans. Deep learning requires initial data collection, called a data set, to predict
the outcome of the data. Deep learning will produce output data based on training and testing data [4].
After passing the learning evaluation, deep learning can predict data. Deep learning can be used for
pattern recognition or data prediction using big data in several scenarios [5]. Some methods used for
the learning system are supervised and unsupervised learning. The supervised algorithm tries to
identify the relationship between input and output data, creating a predictive model to predict the
output based on the matched input [5]. In contrast, an unsupervised algorithm employs a learning
system using non-labeled data. The algorithm can classify training data according to their distinctive
characteristics, primarily based on dimension reduction and grouping systems [6].
Deep learning [7] differs from traditional machine learning systems that allow automatic feature
extraction of raw data through various representational learning levels, from raw to high and abstract
levels. Deep learning can increase learning capacity by amplifying significant patterns and
suppressing irrelevant variation in input data along with the exponential advantage of representing
complex non-linear functions of large amounts of data that continuously accumulate within hidden
deep network layers [8]. Several techniques used in deep learning include convolutional, recurrent,
and deep neural networks [9]. Deep learning technology utilizes artificial neural networks, especially
the convolutional method.
One of the most widely used deep learning algorithms is the convolutional neural network
(CNN). CNN was first introduced in the 1960s [10] and has shown promising performance results in
computer vision [11]. CNN has become the most representative neural network in deep learning [12].
CNN has been utilized to solve complicated visual tasks with high computation [11] and is mainly
used in image classification [13], [14], segmentation, object detection, video processing, natural
language processing, and speech recognition [15]. Some implementations of CNN are video analysis
in a study by Shri [16] dan image analysis by Roncancio [17]. The article's contribution is to describe
CNN in a brief yet comprehensive explanation. Each constructing element is presented as another
point of view in the AI method.

2. Convolutional Neural Network Layer and Architecture

CNN has four layers: convolution layer, pooling layer, fully connected layer, and nonlinearity
layer [18]. Illustrations of those four layers are presented in Fig. 1 [19]. Further explanations regarding
the description of each layer will be shown in the following subsections.

Fig. 1. Architecture of a CNN

2.1. Convolutional Layer

A machine sees an image as a set of numbers, commonly known as matrices. Each number
represents the light intensity on a particular point called a pixel. Adam Geitgey illustrates pixels in an
image on his website, Medium, as shown in Fig. 2.

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Fig. 2. Pixels of Image

The convolutional layer employs a kernel filter to calculate the convolution of input images,
extracting the fundamental features. The filter kernel has the same dimension size but a smaller
constant parameter value than the input image [20]. For instance, the acceptable length of a kernel
filter for a 2D scalogram with a size of 35×35×35 is 𝑓 × 𝑓 × 2, where 𝑓 = 3, 5, 7, and so on. However,
the filter size has to be smaller than the size of the input image. The filter mask slides across the input
image step by step and estimates the product point between the kernel filter weight and the pixel value
of the input image. This process results in a 2D activation map. CNN will then learn the visual feature
of the image. The general equation of the convolutional layer can be expressed as in the (1). Fig. 3
shows a simple illustration of the computational process in CNN that results in the activation map.

𝐴𝑐𝑡𝑖𝑣𝑎𝑡𝑖𝑜𝑛 𝑚𝑎𝑝 = 𝐼𝑛𝑝𝑢𝑡 ∗ 𝐹𝑖𝑙𝑡𝑒𝑟

𝑐𝑜𝑙𝑢𝑚𝑛𝑠 𝑟𝑜𝑤𝑠
(1)
= ∑ ( ∑ 𝐼𝑛𝑝𝑢𝑡(𝑥 − 𝑝, 𝑦 − 𝑞)𝐹𝑖𝑙𝑡𝑒𝑟 (𝑥, 𝑦))
𝑦=0 𝑥=0

Fig. 3. Convolutional Layer

A convolutional layer is defined by: kernel size, stride length, and padding [21]. Kernel size is
the kernel filter's size or the sliding kernel [22]. Stride length is the number of kernels that slide
before making product points and creating output pixels [23]. Padding is the size of the 0-th frame
set up around the input feature map [24].
2.2. Pooling Layer
The pooling layer will combine two consecutive convolutional layers. It reduces the number of
parameters and computation loads by making down-sampling representations. The function in the
pooling layer can result in a maximized or averaged value. A maximizing combination is often used
for an optimal function [25]. The pooling layer is also helpful in reducing overfitting or computation
weights. Fig. 4 represents a simple operation in dimension reduction of an activation map using the
max-pooling function [20].

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Fig. 4. Pooling Layer

2.3. Fully Connected Layer

The third layer is the fully connected layer, commonly called the convolutional output layer [26].
The fully connected layer is similar to a feedforward neural network, as shown in Fig. 5. The layer is
commonly found in the bottom layer of the network. It receives input from the final pooling or the
convolutional output layer, flattened before being sent to the subsequent layer. Even distribution of
the output means unrolling all the values of the result obtained after the last pooling or convolutional
layer into a vector (3D matrix). This method is a simple technique for studying high-level non-linear
combinations of a feature represented by the output convolutional layer [26].

Fig. 5. Fully Connected Layer

2.4. Nonlinearity Layer (Activation Function)

An activation function plays an essential role in CNN layers. The filtered output provides another
mathematical function called activation [26]. ReLU, abbreviated from the Rectified Linear Unit [27],
is the most common activation function in feature extraction using CNN. The main objective of the
activation function is to decide the final output of a neural network, such as 'yes' or 'no'. The activation
function maps the output values between -1 and 1, 1 and 0, and so on.
The activation function can be differentiated into two categories, which are [26].
1. Linear Activation Functions. A simplified mathematical expression of linear activation functions
can be written as 𝐹(𝑥) = 𝐶𝑌. The input values are multiplied with the constant parameter, 𝑐,
which is the weight of each neuron. The process results in an output that is proportional to the
input. Linear functions can perform more than the step function since they only give a single final
answer of yes or no and not multiple choices.
2. Non-linear Activation Functions. Non-linear activation functions are used in modern neural
networks. They allow the model to design a complicated mapping between the network's input
and output, which is essential for complex learning and modeling systems.

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Some of the most common or popular activation functions in CNN and other neural networks are
listed as follows [28].
1. Sigmoid: this activation function uses real numbers as inputs and limits the output between 0 and
1. The curve of the sigmoid function is S-shaped and can be mathematically represented as in
(2).

1
𝑓(𝑥)𝑠𝑖𝑔𝑚 = (2)
1 + 𝑒 −𝑥
2. Tanh: Apparently, the tanh function is similar to sigmoid since both use real numbers as their
inputs. However, the tanh function limits its output in -1 and 1. The tanh function can be
mathematically represented as in (3).

𝑒 𝑥 + 𝑒 −𝑥
𝑓(𝑥)𝑡𝑎𝑛ℎ = (3)
𝑒 𝑥 + 𝑒 −𝑥
3. ReLU: ReLU is the most common function used in CNN. All inputs are converted into positive
numbers. The computational load of ReLU is relatively lower than other functions.
Mathematically, the representation of the ReLU function is presented as in (4).

𝑓(𝑥)𝑅𝑒𝐿𝑈 = max (0, 𝑥) (4)

4. Leaky ReLu: If the ReLU function is responsible for down-scaling the negative inputs, the Leaky
ReLU function ensures that inputs are never ignored. This function is used to solve a dying issue
in ReLU. A mathematical representation of Leaky ReLU is presented in (5).

𝑥, if 𝑥 > 0
𝑓(𝑥)𝐿𝑒𝑎𝑘𝑙𝑦𝑅𝑒𝐿𝑈 = { } (5)
𝑚𝑥, if 𝑥 ≤ 0
5. Noisy ReLU: This function is used to perform Gaussian distribution. A mathematical expression
of the Noisy ReLU function is presented in (6).

𝑓(𝑥)𝑁𝑜𝑖𝑠𝑦𝑅𝑒𝐿𝑈 = max(x + Y), withY ~N(0, σ(x)) (6)

6. Parametric Linear Units: Most of this function adopts the concept of Leaky ReLu. The difference
between both functions is shown in the leak factor updated through the training mode. A
mathematical representation of Parametric Linear Units can be seen in (7).

𝑥, if 𝑥 > 0
𝑓(𝑥)𝑃𝑎𝑟𝑎𝑚𝑒𝑡𝑟𝑖𝑐𝐿𝑖𝑛𝑒𝑎𝑟 = { } (7)
𝑎𝑥, if 𝑥 ≤ 0

3. Popular CNN Architecture

Architecture in CNN is influenced by the organization and function of the visual cortex [26]. The
design is made to resemble neuron connections in human brains. After knowing several layers in CNN,
we will discuss some popular CNN architectures in this section.
3.1. LeNet
Currently, the development of LeNet has reached the LeNet-5 version. This version is a gradient-
based CNN learning structure and was first introduced for digital handwriting character recognition
[29]. The structure diagram of LeNet-5 is presented in Fig. 6 [30]. The input of LeNet-5 is grayscale
images with a dimension of 32×32×1, which then pass six feature maps of a convolutional layer with
a 5×5 filter and a stride. Those six feature maps are pre-processed image channels from the 28×28×6-
sized convolutional operation. Stride is used as sliding control of a filter when passing through the
dataset. The sliding control uses the tanh activation function. The second pooling layer has a 2×2 filter,
six feature maps, and two strides. The tanh function on the second layer results in a 14×14×6 image.

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The third step is a second convolutional layer with 16 feature maps, a 5×5 filter, and a stride, resulting
in an image with a dimension size of 10×10×16. The fourth layer is a pooling layer with a 2×2 filter,
two strides, and 16 feature maps. Four hundred nodes exist in the fourth layer, resulting in an output
image with a dimension of 5×5×16. Then, there is a fully connected layer with 120 feature maps using
the tanh activation function in the next layer; each has a dimension of 1×1. On this fifth layer, there
are 120 nodes connected to 200 nodes on the fourth layer. The sixth layer is fully connected with 84
nodes, resulting in 10164 nodes of trained output parameters. The last layer in LeNet-5 is a fully
connected layer with a 5-sized softmax activation function, resulting in a classified output image.

Fig. 6. LeNet-5 Architecture

3.2. AlexNet
Alex Krizhevsky introduced AlexNet in 2012 on a research project called ImageNet LargeScale
Visual Recognition Challenge [31]. This architecture is one of CNN architectures with a basic, simple,
yet effective layer design. AlexNet has five convolutional layers, followed by a pooling layer on its
fourth layer and three layers of a fully connected layer on its fifth. In AlexNet architecture, the
convolutional kernels are extracted during the back-propagation optimization procedure by optimizing
with the stochastic gradient function [31]. The convolutional layer acts with the sliding convolutional
kernel, creating convolved feature maps to gain information within a given neighborhood window.
Equation 8 is the function used in AlexNet as a half-wave rectifier, which significantly fastens the
training phase and avoids overfitting.

𝑓(𝑥) = max(x, 0) (8)

The dropout technique in Alexnet is used as a stochastic regulator in determining the number of
input neurons with 0 values to reduce co-adaptation neurons, which is commonly used in the fully
connected layer. The architecture of Alexnet can be seen in Fig. 7 [31].

Fig. 7. AlexNet Architecture

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3.3. VGGNet
The latest version of VGGNet to the day the article was made is the VGGnet-16. This architecture
employs 13 convolutional layers and 3 fully connected layers [32]. The convolutional layer in VGG-
16 has a size of 3×3 with a 1-sized stride and padding. Meanwhile, the pooling layer has a size of 2C2
with a 2-sized stride. The resolution of the input image in VGG-16 is 224×224. After each pooling
layer is run, the size of the feature map will be reduced by 50%. The last feature map made before the
fully connected layer is 7×7 with 512 channels and continues to be expanded to a vector with a size
of 7×7×512 channels [33]. The architecture of AVGGNet-16 is represented in Fig. 8.

Fig. 8. VGGNet Architecture

4. Discussion
Artificial intelligence combined with a deep network is commonly called deep learning. In this
study, deep learning is explained by some popular network architectures, such as LeNet [34], AlexNet
[35], dan VGGNet [36]. In general, all network architectures can be differentiated by the depth of the
network and the architectural approach method. The resolution of input images used in each
architecture differs based on the initial input criteria. LeNet uses a smaller input image (32×32) than
AlexNet and VGG Net. The convolutional layers used in the architecture also differ; for instance,
VGG Net has 13 layers. Then, LeNet in the study utilizes the MNIST database to measure accuracy,
resulting in an accuracy greater than 90% of the prediction truth level.
Meanwhile, AlexNet and VGG Net utilize the ILSVRC database in their error measurement,
resulting in 15.3% and 6.8% error rates. In detail, the distinctive characteristics of each CNN
architecture are listed in Table 1. Another study finding by Swapna [37], explained error rates in each
CNN architecture and is in accordance with the results of this study.

Table 1. CNN Architecture

Methods LeNet AlexNet VGG Net
Image resolution 32×32×1 227×227×3 224×224×3
Number of convolutional
3 5 13
layers
Number of pooling
2 3 5
layers
Activation function ReLu, softmax ReLu, softmax ReLu, softmax
>98% (accuracy based on 15.3% (error rate based on 6.8% (error rate based on
Accuracy/error rate
MNIST database) ILSVRC) ILSVRC)

5. Conclusion
In general, machine learning can perform self-learning without any repetitive programming by
humans. Meanwhile, deep learning is an implementation of machine learning that aims to imitate

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human brains' work using artificial neural networks. One of the most popular methods in deep learning
is the convolutional neural network (CNN). This algorithm has many essential advantages, including
image classification, segmentation, object detection, video processing, natural language processing,
and speech recognition. CNN has four layers: a convolutional layer, a pooling layer, a fully connected
layer, and a nonlinearity layer. The main technique in CNN algorithms is convolution; a filter will
slide upon an input, then combine the input and filter values in the feature map. The pooling layer will
combine two consecutive convolutional layers. It also minimizes the number of parameters and
computational load by performing a down-sampling representation. The function in the pooling layer
can result in maximized or averaged results. The fully connected layer connects all activation neurons
from the retrospective layer to the next layer. An activation function plays an important role in CNN
layers.
The filtered output provides another mathematical function called an activation function. The
layer has different functions: Sigmoid, Tanh, ReLU, Leaky ReLU, Noisy ReLU, and Parametric
Linear Units. Sigmoid uses real numbers as inputs and limits the output between 0 and 1. Tanh is
similar to sigmoid since both use real numbers as inputs, but the tanh function limits its output in -1
and 1. ReLU becomes the most commonly used function in CNN. All inputs are converted into
positive numbers. The computational load of ReLU is relatively lower than other functions. If the
ReLU function is responsible for down-scaling the negative inputs, the Leaky ReLU function ensures
that inputs are never ignored; this function is used to solve a dying issue in ReLU. Noisy ReLU is
used to perform Gaussian distribution.
Meanwhile, most of the functions of Parametric Linear Units adopt the Leaky ReLU concept.
The difference between both functions is shown in the leakage factor, updated through the training
mode. Some of the popular CNN architectures are LeNet, AlexNet, and VGGNet. LeNet has become
one of the simplest CNN architectures, which 2 convolutional and 3 fully connected layers. In
comparison, AlexNet has 5 convolutional and 3 fully connected layers. VGGNet uses 13
convolutional and 3 fully connected layers. Various advantages of each CNN architecture make it
suitable for solving complex visual tasks with high computational loads. CNN is also one of the most
representative neural networks in deep learning.

Author Contribution: All authors contributed equally to the main contributor to this paper. All authors read
and approved the final paper.
Funding: This research received no external funding.
Conflicts of Interest: The authors declare no conflict of interest.

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