Abstract: According to a method for road marking detection, a sensor datasets depicting a road marking (7) at a first and a second measurement instance are generated by an environmental sensor system (4) and a parameter characterizing a motion of the environmental sensor system (4) is determined. A first and a second observed state vector describing the road marking (17) at the first and the second measurement instance, respectively, are generated based on the sensor datasets. A predicted state vector for the second measurement instance is computed depending on the at least one motion parameter and the first observed state vector and a corrected state vector for the second measurement instance is generated depending on the predicted state vector and the second observed state vector.

Abstract: According to a method for object recognition by an active optical sensor system (2), a detector unit (2b) detects light (3b) reflected off an object (4) and generates a sensor signal (5a, 5b, 5c, 5d, 5e, 5f) on the basis thereof. A computing unit (2c) ascertains a first pulse width (D1) defined by a predetermined first limit value (G1) for an amplitude of the sensor signal (5a, 5b, 5c, 5d, 5e, 5f) as well as a second pulse width (D2) defined by a predetermined second limit value (G2). The signal pulse is assigned to one of at least two categories according to at least one predefined signal pulse parameter, and a scatter plot for object recognition is generated, said scatter plot containing exactly one entry for the signal pulse, said entry corresponding to the first pulse width (D1) or to the second pulse width (D2) according to the category to which the signal pulse belongs.