Method for determining at least a part of the border for a moveable object in a physical area by using at least a first ordered set of reference locations of the physical area, wherein the border comprises a set of border locations (551, 552) of the physical area, wherein the reference locations of the first set are associated to a set of corresponding n-tuples, wherein the set of n-tuples specifies the positions of the corresponding reference locations in the physical area, wherein the set of n-tuples associated to the reference locations of the first set are stored in a storage device, characterized in that said method comprises at least the steps of: a) retrieving from the storage device at least an n-tuple associated to a first reference location of the first set; b) retrieving from the storage device at least a set of n-tuples (612, 613) associated to a plurality of second locations (512, 513) of the first set; c) selecting from the plurality of n-tuples (612, 613) associated to the second locations (512, 513) a subset comprising nearest, in relation to the n-tuple associated to the first location, n-tuples (614, 615) associated to nearest second locations (514, 515); d) computing a linearity estimation, by using a first computational procedure, of the nearest n-tuples (614, 615) associated to the nearest second locations (514, 515); e) determining a centre n-tuple associated to a centre location of the nearest second locations (525, 526) and storing the centre n-tuple associated to the centre location in the storage device as a border element that is part of the border, if the linearity estimation is above a predefined threshold, the method further comprising using a third ordered set of reference locations, associated to a set of corresponding third ordered set of n-tuples, which comprises steps of - storing, after step e), the centre n-tuple associated to the centre location in the storage device as a non-gap n-tuple associated to a non-gap element that is part of the third ordered set of reference locations, if the linearity estimation is above the predefined threshold, or storing the centre n-tuple associated to the centre location in the storage device as a gap n-tuple associated to a gap element that is part of the third ordered set of reference locations, if the linearity estimation is below the predefined threshold, as part of the third ordered set of n-tuples, and - computing a corner n-tuple associated to a corner element that is part of the border, by using a second computational procedure, wherein the second computational procedure is based on gap n-tuples and non-gap n-tuples, and using the subset of non-gap n-tuples and gap n-tuples that are part of the third ordered set of reference locations, wherein the second computational procedure determines for each subset of gap n-tuples the corner n-tuple associated to the corner element, that is part of the border, by computing a first linear correlation line of the non-gap n-tuples before said subset of gap n-tuples and a second linear correlation line of the non-gap n-tuples after said subset of gap n-tuples and the corner n-tuple as the intersection of the first linear correlation line and the second linear correlation line. a) retrieving from the storage device at least an n-tuple associated to a first reference location of the first set; b) retrieving from the storage device at least a set of n-tuples (612, 613) associated to a plurality of second locations (512, 513) of the first set; c) selecting from the plurality of n-tuples (612, 613) associated to the second locations (512, 513) a subset comprising nearest, in relation to the n-tuple associated to the first location, n-tuples (614, 615) associated to nearest second locations (514, 515); d) computing a linearity estimation, by using a first computational procedure, of the nearest n-tuples (614, 615) associated to the nearest second locations (514, 515); e) determining a centre n-tuple associated to a centre location of the nearest second locations (525, 526) and storing the centre n-tuple associated to the centre location in the storage device as a border element that is part of the border, if the linearity estimation is above a predefined threshold, - storing, after step e), the centre n-tuple associated to the centre location in the storage device as a non-gap n-tuple associated to a non-gap element that is part of the third ordered set of reference locations, if the linearity estimation is above the predefined threshold, or storing the centre n-tuple associated to the centre location in the storage device as a gap n-tuple associated to a gap element that is part of the third ordered set of reference locations, if the linearity estimation is below the predefined threshold, as part of the third ordered set of n-tuples, and - computing a corner n-tuple associated to a corner element that is part of the border, by using a second computational procedure, wherein the second computational procedure is based on gap n-tuples and non-gap n-tuples, and