Method and device for sensor data fusion for a vehicle

A method of sensor data fusion for a vehicle (F), wherein a sensor device (S1) is associated with the vehicle (F), and wherein in the method

• a fusion object data set is provided comprising fusion object data each representative of a fusion object (OF) detected in an environment of the vehicle (F), each fusion object (OF) being associated with a fusion reference point,
• sensor object data is provided, which is representative of a sensor object (OS) detected by the respective sensor device (S1) in the environment of the vehicle (F) and to which a sensor reference point (AS) is assigned,
• indicator data is provided that is representative of an uncertainty in the determination of the sensor object data,
• reference point transformation candidates of the sensor object (OS) are determined depending on the indicator data and
• depending on the reference point transformation candidates, an innovated fusion object is determined.