The invention relates to a computer-implemented method for detecting objects in an environment, a
computer program for detecting objects in an environment, a
machine-readable storage medium for detecting objects in an environment, and a device for detecting objects in an environment. The method according to the invention serves to detect objects in an environment based on a plurality of observations, wherein each of the observations comprises a
spatially resolved image of at least part of the environment. For each of the observations, state vectors are determined based on the corresponding image, wherein the state vectors each characterize the arrangement of an object detected in the image in the environment, and wherein an element-specific uncertainty is additionally determined for the elements of the state vectors based on the corresponding image.The state vectors obtained for different observations are compared to determine sets of state vectors, each associated with a
common object. For each set of state vectors associated with a
common object, an error-weighted
state vector estimate for the object in question is determined from the set of state vectors, taking into account the uncertainties of the elements of the respective state vectors.