# US 11,442,462 B2 · Method for creating a feature-based localization map for a vehicle taking into account characteristic structures of objects > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,442,462 B2 - Document ID: US11442462B2 - Status: Granted - Kind: B2 - Application number: 16/767,764 - Filed: 2018-11-21 - Published: 2020-11-05 - Granted: 2022-09-13 - Earliest claimed: 2017-12-14 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Daniel Zaum; Peter Christian Abeling - Web page: https://patentgrep.com/patent/US11442462B2 ## CPC - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G05D 1/0246: {using a video camera in combination with image processing means} - G06F 16/29: Geographical information databases - G06V 10/44: Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components - H04W 4/025: {using location based information parameters} - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A method for creating a feature-based localization map for a vehicle, including the steps: ascertaining data of at least one object in the surroundings of the vehicle; identifying characteristic structures of the at least one object; combining the characteristic structures to form a simplification structure of the object; and incorporating the simplification structure into the feature-based localization map. ## Claims ### Claim 1 A method for creating a feature-based localization map for a semi-autonomous and/or autonomous vehicle, the method comprising: ascertaining, via an ascertainment unit, data of at least one object in surroundings of the semi-autonomous and/or autonomous vehicle; identifying, via an identification unit, characteristic structures of the at least one object, wherein the ascertainment unit is functionally connected to the identification unit; combining, via a combination unit, the characteristic structures to form a simplification structure of the object, wherein the combination unit is functionally connected to the identification unit; and incorporating, via an incorporation unit, the simplification structure into at least one feature-based localization map, wherein the combination unit is functionally connected to the incorporation unit; wherein the ascertainment unit, the identification unit, the combination unit, and the incorporation unit are included in an electronic device having a processor, and wherein the at least one feature-based localization map includes a plurality of sensor-based localization maps, wherein the sensor-based localization maps are consolidated and include punctiform objects and objects having arbitrary structures and shapes, which are represented in the form of simplification structures, so that data volumes are reduced based on the consolidated radar-based localization maps, and wherein localization results are improved using object representations based on the simplification structures, wherein the punctiform objects include multiple points. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein at least one of: a radar sensor, and/or an ultrasonic sensor, and/or a LIDAR sensor, and/or a camera, is used to ascertain the data of the at least one object in the surroundings of the vehicle. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein catalogs including product types and/or types of structures are used to identify the characteristic sections of the at least one object. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein the map is updated at defined intervals. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein the map is updated after a defined number of days. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein the map is updated after a defined number of hours. ### Claim 7 (depends on 1) The method as recited in claim 1, wherein the data of the at least one object in the surroundings of vehicles are provided using a crowdsourcing-based approach. ### Claim 8 A device for creating a feature-based localization map for a semi-autonomous and/or autonomous vehicle, comprising: an ascertainment unit to ascertain data of at least one object in surroundings of the semi-autonomous and/or autonomous vehicle; an identification unit to identify characteristic structures of the at least one object, wherein the ascertainment unit is functionally connected to the identification unit; a combination unit to combine the characteristic sections to form a simplification structure of the object, wherein the combination unit is functionally connected to the identification unit; and an incorporation unit to incorporate the simplification structure into the feature-based localization map, wherein the combination unit is functionally connected to the incorporation unit; wherein the ascertainment unit, the identification unit, the combination unit, and the incorporation unit are included in an electronic device having a processor, and wherein the at least one feature-based localization map includes a plurality of sensor-based localization maps, wherein the sensor-based localization maps are consolidated and include punctiform objects and objects having arbitrary structures and shapes, which are represented in the form of simplification structures, so that data volumes are reduced based on the consolidated radar-based localization maps, and wherein localization results are improved using object representations based on the simplification structures, wherein the punctiform objects include multiple points. ### Claim 9 A non-transitory computer-readable medium, on which is stored a computer program, which is executable by a processor, comprising: a program code arrangement having program code for creating a feature-based localization map for a semi-autonomous and/or autonomous vehicle, by performing the following: ascertaining, via an ascertainment unit, data of at least one object in surroundings of the semi-autonomous and/or autonomous vehicle; identifying, via an identification unit, characteristic structures of the at least one object, wherein the ascertainment unit is functionally connected to the identification unit; combining, via a combination unit, the characteristic structures to form a simplification structure of the object, wherein the combination unit is functionally connected to the identification unit; and incorporating, via an incorporation unit, the simplification structure into at least one feature-based localization map, wherein the combination unit is functionally connected to the incorporation unit; wherein the ascertainment unit, the identification unit, the combination unit, and the incorporation unit are included in an electronic device having the processor, and wherein the at least one feature-based localization map includes a plurality of sensor-based localization maps, wherein the sensor-based localization maps are consolidated and include punctiform objects and objects having arbitrary structures and shapes, which are represented in the form of simplification structures, so that data volumes are reduced based on the consolidated radar-based localization maps, and wherein localization results are improved using object representations based on the simplification structures, wherein the punctiform objects include multiple points.