Method for integrating each running image acquired from each vehicle carrying out cooperative running and a traveling image integration device using the same

摘要

To provide a device for integrating driving images acquired from vehicles performing cooperative driving.SOLUTION: A driving image integrating device 100 includes the steps of: inputting a main driving image to a main object detector 150, generating a main feature map by applying convolution operation via a main convolutional layer, generating main ROIs via a main region proposal network (RPN), generating main pooled feature maps by applying pooling operation via a main pooling layer, and generating main object detection information for the main objects by applying fully-connected (FC) operation via a main fully-connected (FC) layer; generating main confidences by inputting the main pooled feature maps to a main confidence network; and acquiring sub-object detection information and sub-confidences from each sub-vehicle and integrating the main object detection information and the sub-object detection information using the main and sub-confidences.SELECTED DRAWING: Figure 3