For object tracking, first and second sensor data generated by means of a surroundings
sensor system (3) are obtained. On the basis of the first sensor data, a plurality of first geometric figures (16a, 16b, 16c, 16d, 25) are determined, which each approach a region of at least one object (5, 14, 20, 22, 24) represented by the first sensor data, and on the basis of the second sensor data, a plurality of second geometric figures (16a, 16b, 16c, 16d, 25) are determined, which each approach a region of at least one object (5, 14, 20, 22, 24) represented by the second sensor data. One of the second geometric figures (16a, 16b, 16c, 16d, 25) is selected as a feature to be tracked, and the feature to be tracked is assigned to a reference figure of the first geometric figures (16a, 16b, 16c, 16d, 25), which reference figure matches the feature to be tracked, said assignment being carried out on the basis of a comparison of the plurality of second geometric figures (16a, 16b, 16c, 16d, 25) with the plurality of first geometric figures (16a, 16b, 16c, 16d, 25).