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A learning method and learning device that updates the HD map by reconstructing the 3D space using the depth prediction information for each object and the class information for each object acquired by the V2X information fusion technology, and using this. Testing method and testing equipment
A learning method and learning device that updates the HD map by reconstructing the 3D space using the depth prediction information for each object and the class information for each object acquired by the V2X information fusion technology, and using this. Testing method and testing equipment
PROBLEM TO BE SOLVED: To provide a method for rebuilding a 3D space and updating a HD map.;SOLUTION: The present invention includes: a step in which a learning device causes a coordinate neural network 130 to generate a local feature map and a global feature vector applying coordinate neural network computation to a coordinate matrix; a step in which the learning device causes a determination neural network 140 to generate a first or an N-th prediction suitability score map applying determination neural network computation to an integrated feature map; and a step in which the learning device causes a loss layer to generate a loss referring to the first prediction suitability score or the N-th prediction suitability score and a first GT suitability score or the N-th GT suitability score and carry out back propagation utilizing the loss, thereby learning parameters of the determination and coordinate neural networks.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2020,JPO&INPIT
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