Apparatus and method for detecting objects in a stream of sensor data

The invention relates to an apparatus (101) for detecting objects (103a, 103b, 103c, 103d, 103e) in a stream of sensor data (105), wherein the sensor data (105) are formed by means of an ambient sensor (403) on a vehicle and correspond to a vehicle environment sensed by means of the ambient sensor (403), comprising: - a position finding device (107) for finding a vehicle position, - an investigator (109) for ascertaining what object is arranged on a route of the vehicle in the direction of travel after the vehicle position that has been found, and - a filter (111) for filtering the sensor data (105) in accordance with the ascertained object in order to detect the object in the sensor data (105). The invention also relates to an appropriate method, an appropriate system and also a vehicle system and a computer program.