A method of localizing a device within an environment includes a step, in which a first location information is acquired that is representative of a first specified position. In another step, a first sensor information is acquired that is representative of the first specified position. In another step, the first sensor information is allocated to the first location information in order to generate a first condition information that is unique for the first specified position. In another step, a knowledge base is provided which includes the first condition information. In another step, the device provides a current sensor information indicating a current condition of the environment present at the current position of the device. In another step, the device is localized based on a matching between the current sensor information and the plurality of condition information.