METHOD AND DEVICE FOR LEARNING KNOWLEDGE DISTILLATION BASED ON MULTI-SENSOR, METHOD AND DEVICE FOR INFERRING IMAGE BEV FEATURE INFORMATION, AND COMPUTER-READABLE STORAGE MEDIUM STORING INSTRUCTIONS FOR PERFORMING METHOD FOR LEARNING KNOWLEDGE DISTILLATION BASED ON MULTI-SENSOR

There is provided a multi-sensor-based knowledge distillation learning method. The method comprises determining a sensor data received from a plurality of sensors, and generating at least one piece of sensor data-based voxel feature information using the sensor data; performing view transformation on the at least one piece of sensor data-based voxel feature, and generating a first voxel BEV feature information using the view-transformed feature information; generating a second voxel BEV feature information using the at least one piece of sensor data-based voxel feature information; generating the first voxel BEV feature information and the second voxel BEV feature information to construct fused voxel BEV feature information; performing learning of an image view transformation model; and performing learning of an image BEV generation model that generates image BEV feature information corresponding to the view-transformed image feature information by using the fused voxel BEV feature information.