Method for Detecting Objects in the Surroundings of a Vehicle by Determining Coverage of the Objects, Computing Device, and Sensor System

A method for detecting objects in the surroundings of a vehicle includes receiving sensor data which describe the objects in the surroundings from a surroundings sensor of the vehicle; determining each of the corners of the objects, with the corners describing outer delimitations of each object; determining a relative position of each of the corners to the surroundings sensor; sorting the determined corners in a predetermined angle direction; checking, for each of the corners in the angle direction, whether the corners are covered by another of the objects, on the basis of the relative position of each of the corners to the surroundings sensor; and determining regions of each of the objects that can be detected by the surroundings sensor, on the basis of checking the corners.