Abstract: The sensor device includes a planar code carrier on one object, and on another object, a scanning device for an angle of view for determining a viewing direction lying therein, and also a computing circuit. A photodetector detects an illumination density during the course of the scanning of the angle of view according to the direction of light incidence. On the code carrier there is arranged a rectangular code field with its center line parallel to the scanning plane. The code field includes at least two rectangular positioning fields and a rectangular interfield lying in between. The positioning fields contain positional information on the objects which can be evaluated by the scanning device. In at least one interfield, the code includes at least one boundary line obliquely intersecting the center line, the scanning of which boundary line produces a distinct variation of the illumination density in dependence on the direction of light incidence, which corresponds to a viewing direction to be established.