Map generation model building device and map generation device using the same

Abstract

A map generation model building device includes a memory storing a map generation model building program, and a processor configured to execute the program, wherein the program generates embedding data by applying captured images taken by a movement device to an encoder module, generates spatial map data by recording the embedding data in map base data based on location information of the movement device, generates a rendering image based on the location information of the movement device in the spatial map data by using a decoder module, and train the a map generation model by comparing the rendering image with the captured image through a loss function and by updating the encoder module and the decoder module, the map base data includes a plurality of grids in which the embedding data is recorded, the embedding data includes RGB information and depth information for each pixel of the captured image.