Method for determining a contour of an object

A computer implemented method for determining a contour of an object with respect to a sensor, the sensor being configured to provide a plurality of sensor detections, each sensor detection including a respective position at the object, the method comprising:

• determining an initial contour of the object including a plurality of segments, each segment being related to a respective initial subset of the sensor detections,
• associating a respective surrounding set of the sensor detections with each segment of the initial contour,
• providing a respective weight to each of the sensor detections of the respective surrounding set, each weight depending from a relative position of the sensor detection with respect to the associated segment, and
• refining each segment of the initial contour by using the weights of the sensor detections of the respective surrounding set associated with the respective segment in order to determine a final contour including the refined segments for the object,
• wherein:
• for each sensor detection of the respective surrounding set, it is determined whether the sensor detection is located at the initial contour, on an inner side of the initial contour facing the sensor or on an outer side of the initial contour being averted from the sensor,
• the sensor detections located at the initial contour are provided with a normal weight,
• the sensor detections located on the inner side are provided with an increased weight which is greater than the normal weight, and
• the sensor detections located on the outer side are provided with a decreased weight which is smaller than the normal weight.