Method for generating bird's eye view features by utilizing similarity between features including image context and mobility device using the method

A mobility device comprising:

• a memory configured to store at least one instruction;
• and
• a processor configured to execute the at least one instruction stored in the memory based on data obtained from the memory,
• wherein the processor is further configured to:
• generate at least one or more image features from at least one or more images through an image analysis model,
• produce a reference BEV feature including reference direction information corresponding to a reference level and a BEV feature including height direction information corresponding to each level by mapping the image features and a BEV grid,
• calculate a weight based on information included in the reference BEV feature and a height BEV feature,
• generate a single enhanced BEV feature by reflecting the calculated weight in the reference BEV feature and the height BEV feature, and
• perform autonomous driving control by using the enhanced BEV feature.