Learning methods and devices that segment images with at least one lane using embedding loss and softmax loss to support collaboration with HD maps needed to meet level 4 of autonomous vehicles, and use them. Test method and test equipment

摘要

A learning method for segmenting an image having one or more lanes is provided to be used for supporting collaboration with HD maps required to satisfy level 4 of autonomous vehicles. The learning method includes steps of: a learning device instructing a CNN module (a) to apply convolution operations to the image, thereby generating a feature map, and apply deconvolution operations thereto, thereby generating segmentation scores of each of pixels on the image; (b) to apply Softmax operations to the segmentation scores, thereby generating Softmax scores; and (c) to (I) apply multinomial logistic loss operations and pixel embedding operations to the Softmax scores, thereby generating Softmax losses and embedding losses, where the embedding losses is used to increase inter-lane differences among averages of the segmentation scores and decrease intra-lane variances among the segmentation scores, in learning parameters of the CNN module, and (II) backpropagate the Softmax and the embedding losses.