METHOD FOR FUSING CAMERA AND ULTRASONIC SENSOR DATA, VEHICLE, AND COMPUTER-READABLE STORAGE MEDIUM STORING INSTRUCTIONS FOR PERFORMING METHOD FOR FUSING CAMERA AND ULTRASONIC SENSOR DATA

There is provided a method for fusing camera and ultrasonic sensor data. The method comprises determining ultrasonic data detected by an ultrasonic sensor and generating ultrasonic feature information based on the ultrasonic data; determining image data input through a camera and generating image feature information based on the image data; performing view transformation by reflecting depth information of the image feature information and depth information based on the ultrasonic data and generating ultrasonic guided view-transformed bird's-eye-view (BEV) feature information using the view-transformed data; aligning the ultrasonic feature information based on information on an object included in the image feature information and generating ultrasonic BEV feature information using the aligned ultrasonic feature information; and fusing the ultrasonic guided view-transformed BEV feature information and the ultrasonic BEV feature information.