Method of creating a map, method of determining a pose of a vehicle, mapping apparatus and localization apparatus

A method of determining a pose of a vehicle in a navigation region, the method comprising:

• determining a position of the vehicle relative to a track guidance marking present in the navigation region;
• determining distances of the vehicle from objects possibly present in an environment of the vehicle;
• and
• determining the pose based on the position, on the distances, and on a map, with the map comprising position information of objects and track guidance markings present in the navigation region.

A mapping apparatus comprising:

• a drive interface adapted to control a drive of a vehicle;
• a distance sensor interface adapted to receive a distance of a distance sensor, determined by means of the distance sensor, from objects possibly present in an environment of the distance sensor;
• a track following sensor interface adapted to receive a position of a track following sensor, determined by means of the track following sensor, relative to a track guidance marking present in a navigation region;
• and
• a control circuit adapted to:
• control the drive via the drive interface such that the vehicle follows a path predefined by the track guidance marking;
• determine distances from objects possibly present in an environment of the distance sensor along the path;
• and
• create a map of the navigation region based on the track guidance marking and on the distances.

A localization apparatus, comprising:

• a distance sensor interface adapted to receive a distance of a distance sensor, determined by means of the distance sensor of a vehicle, from objects possibly present in an environment of the distance sensor;
• a track following sensor interface adapted to receive a position of a track following sensor, determined by means of the track following sensor of the vehicle, relative to a track guidance marking present in a navigation region;
• and
• a control circuit adapted to:
• determine a position of the vehicle relative to the present track guidance marking;
• determine distances of the vehicle from objects possibly present in an environment of the vehicle;
• and
• determine a pose of the vehicle based on the position, on the distances, and on a map, with the map comprising position information of objects and track guidance markings present in the navigation region.