Abstract: An electronic device for determining a semantic grid of an environment of a vehicle is provided. The electronic device is configured to: receive first image data of an optical sensor, the first image data comprising a 2D image of the environment, perform a semantic segmentation of the 2D image and project the resulting semantic image into at least one predetermined semantic plane, receive an occupancy grid representing an allocentric bird eye's view of the environment. The control device further includes a neural network configured to determine a semantic grid by fusing the occupancy grid with the at least one predetermined semantic plane.

Abstract: An electronic device for determining a semantic grid of an environment of a vehicle is provided. The electronic device is configured to: receive first image data of an optical sensor, the first image data comprising a 2D image of the environment, perform a semantic segmentation of the 2D image and project the resulting semantic image into at least one predetermined semantic plane, receive an occupancy grid representing an allocentric bird eye's view of the environment. The control device further includes a neural network configured to determine a semantic grid by fusing the occupancy grid with the at least one predetermined semantic plane.

Abstract: This method adapts an initial model trained with labeled images of a source domain into an adapted model. It comprises: copying the initial model into the adapted model; dividing the adapted model into an encoder part and a second part, wherein the second part is configured to process features output from said encoder part; adapting said adapted model to a target domain using images (xs) of the source and target domains while fixing the parameters of said second part and minimizing a function of following two distances: a distance between features of the source domain output of the encoders of the initial model and of the adapted model; and a distance measuring a distribution distance between probabilities of features obtained for images of the source domain and of the target domain.