Abstract: A method for adding one or more anchor points to a map of an environment, wherein a description has been or is in particular associated with the one or more anchor points. The map is based on a SLAM graph. The map is in particular used to navigate a mobile device in the environment. The method includes, for each of the one or more anchor points: providing a position and/or orientation of the anchor point; associating the anchor point with a node in the SLAM graph, in particular a node nearest the anchor point; creating a link between the anchor point and the node; and adding the anchor point to the map of the environment.

Abstract: A map of the surroundings for a motorized domestic appliance is created by transmitting signals and allocating reflections to points. A local distribution of the points is formed. Points are discarded if a correspondence of the distribution to a straight line fails to reach a predefined degree. In a second variant, points whose distance from an average location exceeds a predefined value are discarded. The surroundings may be divided into tiles. A normal distribution transformation for the points of a tile specifies an average location and a variance of the points. The variance has two eigenvectors in two dimensions, each with an eigenvalue describing the variance contained in the eigenvector. A ratio between the larger and smaller eigenvalues describes an equal or unequal distribution of the variances. If, however, the quotient is, say, 10 or more, a large number of points of the tile can lie along a straight line.

Abstract: A method for calibrating a sensor with respect to a reference trajectory indicating a number of timely successive data values using an encoder/decoder neural network with an encoder function and a successive decoder function. The method includes training the encoder function and the decoder function of the encoder/decoder neural network with respect to a reference trajectory so that a reconstruction error of the reference trajectory at an input of the encoder function and a reconstructed reference trajectory at an output of the decoder function is minimized; training a calibration vector with respect to a sensor trajectory so that a reconstruction error between an output sensor trajectory and a corresponding reference trajectory is minimized, the output sensor trajectory is obtained by applying the calibration vector on the sensor trajectory and the encoder function and decoder function on the the calibrated sensor trajectory; and applying the calibration vector to calibrate the sensor.

Abstract: A method for creating digital maps with the aid of a control unit. Measured data of surroundings are received during a measuring run. A SLAM method is carried out for ascertaining a trajectory of the measuring run based on the received measured data. The received measured data are transformed into a coordinate system of the trajectory. The transformed measured data are used for the purpose of creating an intensity map. Features are extracted from the intensity map and are stored in a feature map. A method for carrying out a localization, a control unit, a computer program as well as a machine-readable memory medium are also described.

Abstract: A method for calibrating a sensor with respect to a reference trajectory indicating a number of timely successive data values using an encoder/decoder neural network with an encoder function and a successive decoder function. The method includes training the encoder function and the decoder function of the encoder/decoder neural network with respect to a reference trajectory so that a reconstruction error of the reference trajectory at an input of the encoder function and a reconstructed reference trajectory at an output of the decoder function is minimized; training a calibration vector with respect to a sensor trajectory so that a reconstruction error between an output sensor trajectory and a corresponding reference trajectory is minimized, the output sensor trajectory is obtained by applying the calibration vector on the sensor trajectory and the encoder function and decoder function on the the calibrated sensor trajectory; and applying the calibration vector to calibrate the sensor.