Method for monitoring a railway crossing, including: - providing first corner point positions (g i) of the railway crossing, which are defined in a first coordinate system, which indicates positions in relation to a sensor position of a sensor, wherein the railway crossing differs from a maximum capturing region of the sensor; - detecting at least one object (10, 12) by means of the sensor; - determining object properties (si) of the detected objects (10, 12), wherein the object properties (si) comprise at least one object position (s i), which is defined in the first coordinate system, of each detected object (10, 12); - ascertaining, based on the determined object positions (s i), which of the detected objects (10, 12) are objects located within the railway crossing, wherein a spatial region polygon is created from the first corner point positions (g i) and a check is performed during the ascertaining as to whether the determined object positions (s i) are located within the spatial region polygon; - comparing the object properties (si) of the objects which are located in the railway crossing to at least one specified comparison property; and - outputting a signal based on the result of the comparison, wherein the output signal comprises at least one piece of information as to whether an object located in the spatial region exists which has at least the specified comparison property; - providing reference objects (R i) at first reference object positions (ri), which are defined in a second coordinate system, which indicates positions in relation to an origin that is independent of the sensor; - creating a list of the reference objects (R i) with a unique sequence of the reference objects (Ri), wherein, in accordance with the sequence, a first reference object (R i) of the list follows a last reference object (R n) of the list; - calculating first distances (d i) of the position (r i) of each reference object (R i) from the position (ri+i) of a reference object (Ri+i) that immediately follows in the list; - calculating second distances (D qr) of all determined object positions (s q) from in each case all other object positions (s r); - identifying the reference objects (R i) in the objects (10, 12), which have been detected by means of the sensor, based on a comparison of the calculated first distances (d i) and the calculated second distances (D qr); and - fixing the object positions (s i) of the identified reference objects (R i) as second reference object positions (r i ') of the reference objects (R i) in the first coordinate system. - providing first corner point positions (g i) of the railway crossing, which are defined in a first coordinate system, which indicates positions in relation to a sensor position of a sensor, wherein the railway crossing differs from a maximum capturing region of the sensor; - detecting at least one object (10, 12) by means of the sensor; - determining object properties (si) of the detected objects (10, 12), wherein the object properties (si) comprise at least one object position (s i), which is defined in the first coordinate system, of each detected object (10, 12); - ascertaining, based on the determined object positions (s i), which of the detected objects (10, 12) are objects located within the railway crossing, wherein a spatial region polygon is created from the first corner point positions (g i) and a check is performed during the ascertaining as to whether the determined object positions (s i) are located within the spatial region polygon; - comparing the object properties (si) of the objects which are located in the railway crossing to at least one specified comparison property; and - outputting a signal based on the result of the comparison, wherein the output signal comprises at least one piece of information as to whether an object located in the spatial region exists which has at least the specified comparison property; - providing reference objects (R i) at first reference object positions (ri), which are defined in a second coordinate system, which indicates positions in relation to an origin that is independent of the sensor; - creating a list of the reference objects (R i) with a unique sequence of the reference objects (Ri), wherein, in accordance with the sequence, a first reference object (R i) of the list follows a last reference object (R n) of the list; - calculating first distances (d i) of the position (r i) of each reference object (R i) from the position (ri+i) of a reference object (Ri+i) that immediately follows in the list; - calculating second distances (D qr) of all determined object positions (s q) from in each case all other object positions (s r); - identifying the reference objects (R i) in the objects (10, 12), which have been detected by means of the sensor, based on a comparison of the calculated first distances (d i) and the calculated second distances (D qr); and - fixing the object positions (s i) of the identified reference objects (R i) as second reference object positions (r i ') of the reference objects (R i) in the first coordinate system.