Method and device with road surface recognition

A device for performing recognition related to a road surface, the device comprising:

• one or more processors;
• memory storing instructions configured to, when executed by the one or more processors, cause the one or more processors to:
• obtain an original intensity map comprising original elements having respective signal intensities with respect to a road surface, the signal intensities based on sensing of a vision sensor arranged on a moving object, wherein each of the original elements has a respective local neighborhood of neighboring original elements,
• generate a local intensity map by determining local values respectively corresponding to the original elements of the original intensity map, wherein the local values are determined based on the original elements in the respectively corresponding local neighborhoods,
• generate a normalized intensity map by normalizing the original intensity map based on the local intensity map, and
• perform recognition related to the road surface based on the normalized intensity map,
• wherein the instructions are further configured to cause the one or more processors to:
• obtain a first recognition result based on sensing data on a first time point;
• obtain a second recognition result based on sensing data on a second time point;
• and
• calculate movement information on movement of the moving object between the first time point and the second time point, based on a match between the first recognition result and the second recognition result, wherein the movement information includes translation information and rotation information.