METHOD FOR GENERATING BIRD'S EYE VIEW FEATURES BY UTILIZING SIMILARITY BETWEEN FEATURES INCLUDING IMAGE CONTEXT AND MOBILITY DEVICE USING THE METHOD

A method performed by an apparatus of a vehicle, the method includes: generating one or more image features from one or more images using an image analysis model; producing a reference BEV feature with reference direction information at a reference level and a height BEV feature with height direction information for each level by mapping the image features to a BEV grid; calculating a weight based on information in the reference BEV feature and the height BEV feature; and generating a single enhanced BEV feature by applying the calculated weight to the reference BEV feature and the height BEV feature.