COMPUTING HEIGHT INFORMATION OF A CURB IN AN ENVIRONMENT OF A VEHICLE

For computing height information of a curb, line segments approximating the curb in a ground plane are determined, a perpendicular bisector of a first line segment is computed, and a second segment are determined, which intersects the perpendicular bisector. A first plane including the first segment and a second plane including the second segment are determined. A midpoint of the first segment is projected to the second plane and an intersection point of the second segment is projected to the first plane. Depending on respective resulting heights, the first and the second segment are classified as upper and lower, respectively. An upper point of the upper segment is projected to a further plane, which is perpendicular to the ground plane and includes the lower segment, and a height of the projected upper point above the ground plane is determined.