Lokalisierungsvorrichtung zur visuellen Lokalisierung eines Fahrzeugs

The invention relates to a localisation device (1) for visually determining the location of a vehicle (3). The localisation device has a camera unit (20) for capturing image data (11), and a control unit (10). The control unit (10) is designed to recognise one or more landmarks (15a) in the captured image date (11). The control unit (10) is further designed to determine a quality value for each recognised landmark (13a, 13b), which quality value corresponds to the recognisability, the permanence and/or the contribution of the landmark (13a, 13b) to the localisation, wherein the determination of the quality value involves a plurality of recognitions of the particular landmark (13a, 13b). A plurality of quality values for one landmark can also be determined for different observation positions or observation directions. Furthermore, the control unit (10) is designed to adjust the quality value of a landmark (13a, 13b) already contained in a map, based on a new recognition by the localisation device (1). The control unit (10) is designed to determine the position of the localisation device (1) on the basis of the recognised landmarks (13a, 13b) in conjunction with the map. The control unit (10) is further designed, in conjunction with a positioning unit (40), to determine the position of landmarks (13a, 13b) in relation to a global coordinate system.