Abstract: A scene flow estimation apparatus includes: a hierarchical feature detector detecting a hierarchical feature of point cloud data related to an image frame; a corrector correcting the detected hierarchical feature of the point cloud data; a bi-directional feature detector detecting a bi-directional scene flow feature of the corrected point cloud data, re-inputting a detection value, and repeatedly detecting the bi-directional scene flow feature; and an inferrer inferring a next scene flow of the image frame by using the bi-directional scene flow feature.

Abstract: An apparatus for distilling knowledge for a scene flow prediction model includes: a student model former forming a student model to have single bidirectional flow embedding and a flow predictor structure of a teacher model; a weight generator generating a weight based on a plurality of hierarchical prediction results of the teacher model and predetermined ground truth data; a function generator generating a loss function by using the weight and the plurality of prediction results; and a knowledge distiller distilling the knowledge of the teacher model to the student model by using the loss function.

Abstract: A method and apparatus for calculating an internal exhaust gas recirculation (EGR) amount of an engine include a continuously variable valve duration (CVVD) apparatus. The internal EGR amount is calculated by correcting a backflow gas amount based on a valve duration changed by operation of the continuously variable valve duration apparatus during valve overlap of an intake valve or an exhaust valve.

Abstract: A method for correction of intake pulsation is provided. The method includes calculating a basic air charge amount of a cylinder or a charge amount conversion coefficient based on a measurement value of a sensor disposed in an intake system of an engine. A basic pulsation compensation coefficient for correcting an intake amount from a basic waveform of pulsation is calculated based on opening/closing of an intake valve and engine RPM. The basic pulsation compensation coefficient is then corrected when the basic waveform of the pulsation is changed.

Abstract: A method and apparatus for calculating an internal exhaust gas recirculation (EGR) amount of an engine include a continuously variable valve duration (CVVD) apparatus. The internal EGR amount is calculated by correcting a backflow gas amount based on a valve duration changed by operation of the continuously variable valve duration apparatus during valve overlap of an intake valve or an exhaust valve.

Abstract: A method for correction of intake pulsation is provided. The method includes calculating a basic air charge amount of a cylinder or a charge amount conversion coefficient based on a measurement value of a sensor disposed in an intake system of an engine. A basic pulsation compensation coefficient for correcting an intake amount from a basic waveform of pulsation is calculated based on opening/closing of an intake valve and engine RPM. The basic pulsation compensation coefficient is then corrected when the basic waveform of the pulsation is changed.