(19)

(11)

EP 4 094 043 A1

(12)

(43) Date of publication: 30.11.2022 Bulletin 2022/48 (21) Application number: 20915254.5 (22) Date of filing: 22.01.2020

(51) International Patent Classification (IPC):  G01C 21/00(2006.01) (52) Cooperative Patent Classification (CPC): G06T 7/292; G06T 7/70; G06T 2207/30244 (86) International application number: PCT/CN2020/073737 (87) International publication number: WO 2021/146989 (29.07.2021 Gazette 2021/30)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (71) Applicant: Robert Bosch GmbH 70442 Stuttgart (DE)	(72) Inventors: RUPP, Martin 70442 Stuttgart (DE) ZAPF, Marc Patrick 70442 Stuttgart (DE) KNOLL, Christian 70442 Stuttgart (DE) WANG, Wei Shanghai 200335 (CN)