Optoelectronic sensor and method for recording and determining the distance of an object

The laser scanner (10) has a rotary deflecting unit (18) for periodically deflecting the transmission light beam (16) in the monitoring area. Based on the angle position of the defecting unit, an angle encoding unit (30) generates an angular position signal. An evaluation unit (32) selects a respective group of reception pulses that is collected in a histogram based on the angular position signal and assigns the measured value for the object distance determined from the histogram of the group of reception pulses to a detection angle identified by the angular position signal. An independent claim is also included for a method for the detection and distance determination of objects in a monitoring area.