Method and system for correcting a position of at least one feature in the surroundings of an ego vehicle

A method for correcting a position of at least one feature in surroundings of an ego vehicle by means of a fusion of data from at least a first surroundings detection sensor and a second surroundings detection sensor, the method comprising:

• recording the surroundings of the ego vehicle using the first surroundings detection sensor;
• generating a first representation of the surroundings based on the surroundings of the ego vehicle recorded using the first surroundings detection sensor;
• recording the surroundings of the ego vehicle using the second surroundings detection sensor;
• generating a second representation of the surroundings based on the surroundings of the ego vehicle recorded using the second surroundings detection sensor;
• detecting a feature in the first representation of the surroundings;
• determining a position of the feature based on the first representation of the surroundings;
• determining a height profile in an area in front of the ego vehicle based on the second representation of the surroundings;
• and
• determining a corrected position based on the feature and the height profile, wherein determining of the corrected position is accomplished by intersecting a line of sight of the first surroundings detection sensor with the height profile.