Bird-eye view feature coding method, system and device of image and storage medium

The invention discloses a bird's-eye view feature coding method, system and device of an image, and a storage medium. The method comprises the following steps: obtaining a plurality of current camera view images; obtaining a feature map through a backbone network; motion information of the camera is obtained through the SFM; bEVMap features are defined; constructing a space fusion module based on a Transform mechanism, fusing view angle images of all cameras on a space sequence, converting the view angle images into a BEV space, completing feature aggregation of the space, and obtaining current BEV features; a ConvGRU-based time sequence fusion module is constructed, the obtained motion information of the camera is utilized to carry out projection transformation on historical BEV features, then a ConvGRU network is utilized to fuse the historical BEV features and the current BEV features after projection transformation on a time sequence, time sequence feature aggregation is completed, and final BEV features