Method for the detection of objects in a warehouse and/or for spatial orientation in a warehouse

The method involves detecting the image data with a three-dimensional camera (18), where the camera is fixed to an industrial truck (16), so that a viewing direction of the three-dimensional camera has a defined angle to the horizontal. The angle information is computed for multiple image elements, where each image element indicates an angle between a surface and a vertical reference plane. The surface is represented by the image element. An independent claim is included for an industrial truck with a device for detecting the objects in a storage or for spatial orientation in a storage.