Apparatus and Method for Determining Reference Elements of an Environment

A method for determining reference elements of an environment, the method comprising at least the steps of:

• providing a ceiling value and a floor value;
• measuring, using a distance-measuring sensor, a set of environment point positions, each of said positions comprising at least a first coordinate along a first direction and a second coordinate along a second direction non collinear with the first direction;
• determining reference elements of the environment comprising a set of reference environment point positions, said set comprising at least one position from the set of environment point positions
• whose second coordinate is strictly smaller than the ceiling value and strictly higher than the floor value, and
• whose distance to the distance-measuring sensor, taken along the first direction, is a highest distance in a set of distances of distances of environment points to the distance-measuring sensor, said distances being take along the first direction.