Surveillance system for an infrastructure and/or for a vehicle, comprising - at least two sensor modules (2a-2d) configured to collect respective sensor data (I, F1, F2, V) from a respective associated sensor (3a-3d); - an analysis module configured to access the sensor data (I, F1, F2, V); wherein - the sensor modules (2a-2d) are configured to provide the sensor data (I, F1, F2, V) with a time stamp; and - the analysis module is configured to detect a given event based on sensor data (I, F1, F2, V) of at least one first sensor module (2a-2d) and to associate sensor data (I, F1, F2, V) of at least one other second sensor module (2a-2d) with the event based on the time stamps of the sensor data (I, F1, F2, V) wherein the analysis module is configured to associate the sensor data (I, F1, F2, V) of the second sensor module (2a-2d) with the event based on a spatial relation between a location of the sensor associated with the first sensor module (2a-2d) and a location of the sensor associated with the second sensor module (2a-2d) characterized in that, the analysis module is configured to, depending on a class of the detected event, either only sensor data (I, F1, F2, V) of second sensor modules (2a-2d) with the associated sensor within a given spatial distance from the associated sensor of the first sensor module (2a-2d) is associated with the event; or only sensor data (I, F1, F2, V) of second sensor modules (2a-2d) with the associated sensor outside of a given spatial distance from the associated sensor of the first sensor module (2a-2d) is associated with the event; or only sensor data (I, F1, F2, V) of second sensor modules (2a-2d) with the associated sensor in a given range of spatial distance from the associated sensor of the first sensor module (2a-2d) is associated with the event. - at least two sensor modules (2a-2d) configured to collect respective sensor data (I, F1, F2, V) from a respective associated sensor (3a-3d); - an analysis module configured to access the sensor data (I, F1, F2, V); wherein - the sensor modules (2a-2d) are configured to provide the sensor data (I, F1, F2, V) with a time stamp; and - the analysis module is configured to detect a given event based on sensor data (I, F1, F2, V) of at least one first sensor module (2a-2d) and to associate sensor data (I, F1, F2, V) of at least one other second sensor module (2a-2d) with the event based on the time stamps of the sensor data (I, F1, F2, V) the analysis module is configured to associate the sensor data (I, F1, F2, V) of the second sensor module (2a-2d) with the event based on a spatial relation between a location of the sensor associated with the first sensor module (2a-2d) and a location of the sensor associated with the second sensor module (2a-2d) characterized in that, the analysis module is configured to, depending on a class of the detected event, either only sensor data (I, F1, F2, V) of second sensor modules (2a-2d) with the associated sensor within a given spatial distance from the associated sensor of the first sensor module (2a-2d) is associated with the event; or only sensor data (I, F1, F2, V) of second sensor modules (2a-2d) with the associated sensor outside of a given spatial distance from the associated sensor of the first sensor module (2a-2d) is associated with the event; or only sensor data (I, F1, F2, V) of second sensor modules (2a-2d) with the associated sensor in a given range of spatial distance from the associated sensor of the first sensor module (2a-2d) is associated with the event.