All districts
The Rochester Hills zoning ordinance has no accessory dwelling unit provisions. The residential use table allows one dwelling per lot in the one-family districts, and "accessory dwelling" appears nowhere in Chapter 138 (§ 138-4.300, Table 4). Treat a second dwelling unit on a one-family lot as not permitted; that is an inference from the ordinance's silence, so confirm it with the planning department.
Basement residency is expressly prohibited. Bedroom or kitchen facilities that are part of the principal dwelling and do not form a separate dwelling unit are permitted (§ 138-10.301). An in-law suite without its own separate living arrangement is the lawful pattern; a separate unit would need a rezoning or use variance (§ 138-2.408).