A method for filtering out sensor data, comprising: - creating one or more acquisition tables comprising acquiring from a Sensor scan points clustering system, coupled to an opto-electronic Sensor having a field of view operating range [F min;F max], angular size data of a cluster of points for a Reference object placed at N respective distances from the sensor, the N distances being located in a range [D min;D max] included within [F min;F max], wherein the angular size equates to the angle formed between two opposite edge points of the cluster of points and the opto-electronic Sensor; - creating one or more calibrated threshold tables comprising for each created calibrated threshold table: - dividing the range [D min;D max] into i, i>=1, adjacent distance intervals M; and - associating to each M i distance interval an angular size threshold T i calculated as a function of the angular size data in one of the one or more created acquisition tables corresponding to distances among the N distances falling within the M i distance interval; - transmitting the one or more calibrated threshold tables to a Sensor scan filtering system configured to process data output by the Sensor scan points clustering system coupled to the opto-electronic Sensor mounted on a vehicle; and - selecting one of the one or more transmitted calibrated threshold tables, and - processing by the Sensor scan filtering system of data output by the Sensor scan points clustering system, such data comprising, for a Field object detected by the coupled opto-electronic Sensor mounted on the vehicle, the angular size data S of the cluster of points for the Field object, and a distance D of the location of the Field object from the coupled opto-electronic Sensor, characterised in that the processing comprises: - rejecting or not rejecting the detected Field object based on a comparison of the respective values of the angular size data S and the threshold T i in the selected calibrated threshold table corresponding to the distance interval M i within which D falls; and - if the detected Field object is not rejected, transmitting to a Vehicle navigation system information representative of at least the relative position of the detected Field object. - creating one or more acquisition tables comprising acquiring from a Sensor scan points clustering system, coupled to an opto-electronic Sensor having a field of view operating range [F min;F max], angular size data of a cluster of points for a Reference object placed at N respective distances from the sensor, the N distances being located in a range [D min;D max] included within [F min;F max], wherein the angular size equates to the angle formed between two opposite edge points of the cluster of points and the opto-electronic Sensor; - creating one or more calibrated threshold tables comprising for each created calibrated threshold table: - dividing the range [D min;D max] into i, i>=1, adjacent distance intervals M; and - associating to each M i distance interval an angular size threshold T i calculated as a function of the angular size data in one of the one or more created acquisition tables corresponding to distances among the N distances falling within the M i distance interval; - dividing the range [D min;D max] into i, i>=1, adjacent distance intervals M; and - associating to each M i distance interval an angular size threshold T i calculated as a function of the angular size data in one of the one or more created acquisition tables corresponding to distances among the N distances falling within the M i distance interval; - transmitting the one or more calibrated threshold tables to a Sensor scan filtering system configured to process data output by the Sensor scan points clustering system coupled to the opto-electronic Sensor mounted on a vehicle; and - selecting one of the one or more transmitted calibrated threshold tables, and - processing by the Sensor scan filtering system of data output by the Sensor scan points clustering system, such data comprising, for a Field object detected by the coupled opto-electronic Sensor mounted on the vehicle, the angular size data S of the cluster of points for the Field object, and a distance D of the location of the Field object from the coupled opto-electronic Sensor, characterised in that the processing comprises: - rejecting or not rejecting the detected Field object based on a comparison of the respective values of the angular size data S and the threshold T i in the selected calibrated threshold table corresponding to the distance interval M i within which D falls; and - if the detected Field object is not rejected, transmitting to a Vehicle navigation system information representative of at least the relative position of the detected Field object. - rejecting or not rejecting the detected Field object based on a comparison of the respective values of the angular size data S and the threshold T i in the selected calibrated threshold table corresponding to the distance interval M i within which D falls; and - if the detected Field object is not rejected, transmitting to a Vehicle navigation system information representative of at least the relative position of the detected Field object.