Device with which a vehicle (101) is equipped, the device comprising: a
receiver (155) of a
navigation system; a camera (108); a memory (145); and a processor (140) coupled to the
receiver (155) of the
navigation system, the memory (145) and the camera (108), wherein the processor (140) is configured to execute a method for detecting one or more three-dimensional structures in an environment of the vehicle (101) at runtime, the method comprising: Generating, by the processor (140), using the camera (108), a bird's-eye view (BEV)
camera image (204) of the environment of the vehicle (101), wherein the BEV
camera image (204) includes two-dimensional coordinates of one or more structures in the environment; Generating, by the processor (140), a BEV height image of the environment of the vehicle (101), wherein the BEV height image provides a height of one or more structures in the environment; Detect, by the processor (140), one or more edges (402) of one or more three-dimensional structures in the environment based on the BEV
camera image (204) and the BEV height image; Generating, by the processor (140), models of the one or more three-dimensional structures in the environment of the vehicle (101) by
plane fitting based on the boundaries (402) of the one or more three-dimensional structures; and Reconfiguring, by the processor (140), of the
receiver (155) of the
navigation system based on the models of one or more three-dimensional structures in the environment of the vehicle (101); wherein the BEV height image is generated based on
radar data acquired by a
radar (110) of the vehicle (101); wherein the BEV elevation image is a BEV
radar image (206) generated using radar data; including the detection of the edges (402) of one or more three-dimensional structures: Generating, by the processor (140), a merged image by combining the BEV camera image (204) and the BEV radar image (206) to add the elevation information as a channel for each pixel in the BEV camera image (204); and Detect, by the processor (140), the edges (402) by inputting the merged image into an
artificial neural network.