Electronic device for generating depth map and operating method thereof

Abstract

Disclosed is a processor which includes a camera image feature extractor that extracts a camera image feature based on a camera image, a LIDAR image feature extractor that extracts a LIDAR image feature based on a LIDAR image, a sampling unit that performs a sampling operation based on the camera image feature and the LIDAR image feature and generates a sampled LIDAR image feature, a fusion unit that fuses the camera image feature and the sampled LIDAR image feature and generates a fusion map, and a decoding unit that decodes the fusion map and generates a depth map. The sampling operation includes back-projecting a pixel location of the camera image feature on a camera coordinate system to generate a back-projection point, and projecting the back-projection point on a plane of the LIDAR image to calculate sampling coordinates.