A learning method and a learning device for updating an HD map by reconstructing a 3D space by using depth prediction information for each object and class information for each object acquired by the V2X information fusion technology, and the same are used. Testing method and testing apparatus

摘要

PROBLEM TO BE SOLVED: To provide a method for reconstructing a 3D space and updating an HD map. A learning device has a coordinate neural network to apply a coordinate neural network operation to a coordinate matrix to generate a local feature map and a global feature vector; the learning device has a decision neural network 140. , Applying a decision neural network operation to the integrated feature map to generate a first predictive fitness score to an Nth predictive fitness score map; and a learning device with a loss layer A loss is generated by referring to the predicted fitness score and the first GT fitness score to the Nth GT fitness score, and the back propagation using the loss is performed to determine the neural network and the coordinate neural network. Learning the parameters of the network. [Selection diagram] Fig. 3