Learning method and learning device for learning automatic labeling device capable of auto-labeling image of base vehicle using images of nearby vehicles, and testing method and testing device using the same

A method for testing an automatic labeling device capable of auto-labeling an image of a base vehicle using an image of a nearby vehicle, comprising steps of:

• (a) on condition that a learning device has performed (1) if at least one base image for training of a base vehicle for training and a 1-st sub-image for training to an n-th sub-image for training of respective one or more nearby vehicles for training are acquired wherein n is an integer larger than 0, a process of inputting the base image for training and inputting each of the 1-st sub-image for training to the n-th sub-image for training respectively into a 1-st previous trained dense correspondence network to an n-th previous trained dense correspondence network, to thereby allow each of the 1-st to the n-th previous trained dense correspondence networks to respectively generate each of a 1-st dense correspondence for training to an n-th dense correspondence for training, wherein each of the 1-st dense correspondence for training to the n-th dense correspondence for training represents each of locations, on the base image for training, of each of a dense of the 1-st sub-image for training to a dense of the n-th sub-image for training, assuming that each of the dense of the 1-st sub-image for training to the dense of the n-th sub-image for training is translated to the base image for training, (2) (i) a process of inputting the base image for training and inputting each of the 1-st sub-image for training to the n-th sub-image for training respectively into each of a 1-st encoder to an (n+1)-th encoder, to thereby allow each of the 1-st encoder to the (n+1)-th encoder to respectively output a 1-st convolution feature map for training to an (n+1)-th convolution feature map for training by applying at least one convolution operation to the base image for training and each of the 1-st sub-image for training to the n-th sub-image for training respectively, (ii) a process of inputting each of the 1-st convolution feature map for training to the (n+1)-th convolution feature map for training respectively into each of a 1-st decoder to an (n+1)-th decoder, to thereby allow each of the 1-st decoder to the (n+1)-th decoder to respectively output each of a 1-st deconvolution feature map for training to an (n+1)-th deconvolution feature map for training by applying at least one deconvolution operation to each of the 1-st convolution feature map for training to the (n+1)-th convolution feature map for training respectively, (iii) supposing that an integer k ranges from 1 to n, a process of generating a k-th adjusted deconvolution feature map for training by translating coordinates of a (k+1)-th deconvolution feature map for training to coordinates of the 1-st deconvolution feature map for training by referring to a k-th dense correspondence for training, to thereby generate a 1-st adjusted deconvolution feature map for training to an n-th adjusted deconvolution feature map for training, and (iv) a process of generating at least one concatenated feature map for training by concatenating the 1-st deconvolution feature map for training, and the 1-st adjusted deconvolution feature map for training to the n-th adjusted deconvolution feature map for training and (3) a process of inputting the concatenated feature map for training into a masking layer, to thereby allow the masking layer to output at least one semantic segmentation image for training by applying at least one masking operation to the concatenated feature map for training, and a process of instructing a 1-st loss layer to calculate one or more 1-st losses by referring to the semantic segmentation image for training and its corresponding at least one segmentation GT, and updating each of decoder weights of the 1-st decoder to the (n+1)-th decoder and each of encoder weights of the 1-st encoder to the (n+1)-th encoder via backpropagation using the 1-st losses such that the 1-st losses are minimized, a testing device, if at least one base image for testing of a base vehicle for testing and a 1-st sub-image for testing to an n-th sub-image for testing of respective one or more nearby vehicles for testing are acquired, performing a process of inputting the base image for testing and inputting each of the 1-st sub-image for testing to the n-th sub-image for testing respectively into the 1-st previous trained dense correspondence network to the n-th previous trained dense correspondence network, to thereby allow each of the 1-st to the n-th previous trained dense correspondence networks to respectively generate each of a 1-st dense correspondence for testing to an n-th dense correspondence for testing, wherein each of the 1-st dense correspondence for testing to the n-th dense correspondence for testing represents each of locations, on the base image for testing, of each of a dense of the 1-st sub-image for testing to a dense of the n-th sub-image for testing, assuming that each of the dense of the 1-st sub-image for testing to the dense of the n-th sub-image for testing is translated to the base image for testing;
• (b) the testing device performing (i) a process of inputting the base image for testing and inputting each of the 1-st sub-image for testing to the n-th sub-image for testing respectively into each of the 1-st encoder to the (n+1)-th encoder, to thereby allow each of the 1-st encoder to the (n+1)-th encoder to respectively output a 1-st convolution feature map for testing to an (n+1)-th convolution feature map for testing by applying the convolution operation to the base image for testing and each of the 1-st sub-image for testing to the n-th sub-image for testing respectively, (ii) a process of inputting each of the 1-st convolution feature map for testing to the (n+1)-th convolution feature map for testing respectively into the 1-st decoder to the (n+1)-th decoder, to thereby allow the 1-st decoder to the (n+1)-th decoder to respectively output a 1-st deconvolution feature map for testing to an (n+1)-th deconvolution feature map for testing by applying the deconvolution operation to each of the 1-st convolution feature map for testing to the (n+1)-th convolution feature map for testing respectively, (iii) supposing that an integer k ranges from 1 to n, a process of generating a k-th adjusted deconvolution feature map for testing by translating coordinates of a (k+1)-th deconvolution feature map for testing to coordinates of the 1-st deconvolution feature map for testing by referring to a k-th dense correspondence for testing, to thereby generate a 1-st adjusted deconvolution feature map for testing to an n-th adjusted deconvolution feature map for testing, and (iv) a process of generating at least one concatenated feature map for testing by concatenating the 1-st deconvolution feature map for testing, and the 1-st adjusted deconvolution feature map for testing to the n-th adjusted deconvolution feature map for testing;
• and
• (c) the testing device performing a process of inputting the concatenated feature map for testing into the masking layer, to thereby allow the masking layer to output at least one semantic segmentation image for testing by applying the masking operation to the concatenated feature map for testing.

A learning device for learning an automatic labeling device capable of auto-labeling an image of a base vehicle using images of nearby vehicles, comprising:

• at least one memory that stores instructions;
• and
• at least one processor configured to execute the instructions to perform or support another device to perform:
• (I) if at least one base image of the base vehicle and a 1-st sub-image to an n-th sub-image of respective one or more nearby vehicles are acquired wherein n is an integer larger than 0, a process of inputting the base image and inputting each of the 1-st sub-image to the n-th sub-image respectively into a 1-st previous trained dense correspondence network to an n-th previous trained dense correspondence network, to thereby allow each of the 1-st to the n-th previous trained dense correspondence networks to respectively generate each of a 1-st dense correspondence to an n-th dense correspondence, wherein each of the 1-st dense correspondence to the n-th dense correspondence represents each of locations, on the base image, of each of a dense of the 1-st sub-image to a dense of the n-th sub-image, assuming that each of the dense of the 1-st sub-image to the dense of the n-th sub-image is translated to the base image, (II) (i) a process of inputting the base image and inputting each of the 1-st sub-image to the n-th sub-image respectively into each of a 1-st encoder to an (n+1)-th encoder, to thereby allow each of the 1-st encoder to the (n+1)-th encoder to respectively output a 1-st convolution feature map to an (n+1)-th convolution feature map by applying at least one convolution operation to the base image and each of the 1-st sub-image to the n-th sub-image respectively, (ii) a process of inputting each of the 1-st convolution feature map to the (n+1)-th convolution feature map respectively into each of a 1-st decoder to an (n+1)-th decoder, to thereby allow each of the 1-st decoder to the (n+1)-th decoder to respectively output each of a 1-st deconvolution feature map to an (n+1)-th deconvolution feature map by applying at least one deconvolution operation to each of the 1-st convolution feature map to the (n+1)-th convolution feature map respectively, (iii) supposing that an integer k ranges from 1 to n, a process of generating a k-th adjusted deconvolution feature map by translating coordinates of a (k+1)-th deconvolution feature map to coordinates of the 1-st deconvolution feature map by referring to a k-th dense correspondence, to thereby generate a 1-st adjusted deconvolution feature map to an n-th adjusted deconvolution feature map, and (iv) a process of generating at least one concatenated feature map by concatenating the 1-st deconvolution feature map, and the 1-st adjusted deconvolution feature map to the n-th adjusted deconvolution feature map, and (III) a process of inputting the concatenated feature map into a masking layer, to thereby allow the masking layer to output at least one semantic segmentation image by applying at least one masking operation to the concatenated feature map, and a process of instructing a 1-st loss layer to calculate one or more 1-st losses by referring to the semantic segmentation image and its corresponding at least one segmentation GT, and updating each of decoder weights of the 1-st decoder to the (n+1)-th decoder and each of encoder weights of the 1-st encoder to the (n+1)-th encoder via backpropagation using the 1-st losses such that the 1-st losses are minimized.

A testing device for testing an automatic labeling device capable of auto-labeling an image of a base vehicle using an image of a nearby vehicle, comprising:

• at least one memory that stores instructions;
• and
• at least one processor configured to execute the instructions to perform or support another device to perform:
• (I) on condition that a learning device has performed (1) if at least one base image for training of a base vehicle for training and a 1-st sub-image for training to an n-th sub-image for training of respective one or more nearby vehicles for training are acquired wherein n is an integer larger than 0, a process of inputting the base image for training and inputting each of the 1-st sub-image for training to the n-th sub-image for training respectively into a 1-st previous trained dense correspondence network to an n-th previous trained dense correspondence network, to thereby allow each of the 1-st to the n-th previous trained dense correspondence networks to respectively generate each of a 1-st dense correspondence for training to an n-th dense correspondence for training, wherein each of the 1-st dense correspondence for training to the n-th dense correspondence for training represents each of locations, on the base image for training, of each of a dense of the 1-st sub-image for training to a dense of the n-th sub-image for training, assuming that each of the dense of the 1-st sub-image for training to the dense of the n-th sub-image for training is translated to the base image for training, (2) (i) a process of inputting the base image for training and inputting each of the 1-st sub-image for training to the n-th sub-image for training respectively into each of a 1-st encoder to an (n+1)-th encoder, to thereby allow each of the 1-st encoder to the (n+1)-th encoder to respectively output a 1-st convolution feature map for training to an (n+1)-th convolution feature map for training by applying at least one convolution operation to the base image for training and each of the 1-st sub-image for training to the n-th sub-image for training respectively, (ii) a process of inputting each of the 1-st convolution feature map for training to the (n+1)-th convolution feature map for training respectively into each of a 1-st decoder to an (n+1)-th decoder, to thereby allow each of the 1-st decoder to the (n+1)-th decoder to respectively output each of a 1-st deconvolution feature map for training to an (n+1)-th deconvolution feature map for training by applying at least one deconvolution operation to each of the 1-st convolution feature map for training to the (n+1)-th convolution feature map for training respectively, (iii) supposing that an integer k ranges from 1 to n, a process of generating a k-th adjusted deconvolution feature map for training by translating coordinates of a (k+1)-th deconvolution feature map for training to coordinates of the 1-st deconvolution feature map for training by referring to a k-th dense correspondence for training, to thereby generate a 1-st adjusted deconvolution feature map for training to an n-th adjusted deconvolution feature map for training, and (iv) a process of generating at least one concatenated feature map for training by concatenating the 1-st deconvolution feature map for training, and the 1-st adjusted deconvolution feature map for training to the n-th adjusted deconvolution feature map for training and (3) a process of inputting the concatenated feature map for training into a masking layer, to thereby allow the masking layer to output at least one semantic segmentation image for training by applying at least one masking operation to the concatenated feature map for training, and a process of instructing a 1-st loss layer to calculate one or more 1-st losses by referring to the semantic segmentation image for training and its corresponding at least one segmentation GT, and updating each of decoder weights of the 1-st decoder to the (n+1)-th decoder and each of encoder weights of the 1-st encoder to the (n+1)-th encoder via backpropagation using the 1-st losses such that the 1-st losses are minimized, (I-1) if at least one base image for testing of a base vehicle for testing and a 1-st sub-image for testing to an n-th sub-image for testing of respective one or more nearby vehicles for testing are acquired, a process of inputting the base image for testing and inputting each of the 1-st sub-image for testing to the n-th sub-image for testing respectively into the 1-st previous trained dense correspondence network to the n-th previous trained dense correspondence network, to thereby allow each of the 1-st to the n-th previous trained dense correspondence networks to respectively generate each of a 1-st dense correspondence for testing to an n-th dense correspondence for testing, wherein each of the 1-st dense correspondence for testing to the n-th dense correspondence for testing represents each of locations, on the base image for testing, of each of a dense of the 1-st sub-image for testing to a dense of the n-th sub-image for testing, assuming that each of the dense of the 1-st sub-image for testing to the dense of the n-th sub-image for testing is translated to the base image for testing, (II) (II-1) a process of inputting the base image for testing and inputting each of the 1-st sub-image for testing to the n-th sub-image for testing respectively into each of the 1-st encoder to the (n+1)-th encoder, to thereby allow each of the 1-st encoder to the (n+1)-th encoder to respectively output a 1-st convolution feature map for testing to an (n+1)-th convolution feature map for testing by applying the convolution operation to the base image for testing and each of the 1-st sub-image for testing to the n-th sub-image for testing respectively, (II-2) a process of inputting each of the 1-st convolution feature map for testing to the (n+1)-th convolution feature map for testing respectively into the 1-st decoder to the (n+1)-th decoder, to thereby allow the 1-st decoder to the (n+1)-th decoder to respectively output a 1-st deconvolution feature map for testing to an (n+1)-th deconvolution feature map for testing by applying the deconvolution operation to each of the 1-st convolution feature map for testing to the (n+1)-th convolution feature map for testing respectively, (II-3) supposing that an integer k ranges from 1 to n, a process of generating a k-th adjusted deconvolution feature map for testing by translating coordinates of a (k+1)-th deconvolution feature map for testing to coordinates of the 1-st deconvolution feature map for testing by referring to a k-th dense correspondence for testing, to thereby generate a 1-st adjusted deconvolution feature map for testing to an n-th adjusted deconvolution feature map for testing, and (II-4) a process of generating at least one concatenated feature map for testing by concatenating the 1-st deconvolution feature map for testing, and the 1-st adjusted deconvolution feature map for testing to the n-th adjusted deconvolution feature map for testing, and (III) a process of inputting the concatenated feature map for testing into the masking layer, to thereby allow the masking layer to output at least one semantic segmentation image for testing by applying the masking operation to the concatenated feature map for testing.