Method for detecting a target object in an environmental region of a camera of a motor vehicle , based on two images of the environmental region provided by means of the camera , including the steps of: - receiving information about respectively current steering angles of the motor vehicle and the respectively current velocity and about the respectively current direction of movement and determining a movement vector of the motor vehicle depending on the received information, - determining a plurality of characteristic features in an image of the two images and calculating the corresponding optical flow vectors to each extracted characteristic features, and by correlating said optical flow vectors with the current movement vector of the motor vehicle such that correction is effected based on the current movement of the motor vehicle , allowing to differentiate between ground features associated with a ground of the environmental region and target features associated with a target object , - dividing at least a partial region of the image in a plurality of image cells and examining to each image cell whether the image cell includes a ground feature or a target feature, - classifying those image cells , which include a target feature, as target cells , and those image cells , which include a ground feature, as ground cells , and - detecting the target object by combining a plurality of adjacent image cells to a target cluster depending on the target cells and the ground cells ; wherein the determination of the target cluster includes that a scan window is defined in the partial region of the image and the number of the target cells and the number of the ground cells within the scan window are determined for a plurality of different positions of the scan window within the partial region , wherein the image cells within the scan window in the respective position of the scan window are combined to a region of interest (ROI 15) if a predetermined criterion with respect to the number of the target cells and the number of the ground cells within the scan window is satisfied, and wherein the target cluster is determined based on the regions of interest (ROI 15). - receiving information about respectively current steering angles of the motor vehicle and the respectively current velocity and about the respectively current direction of movement and determining a movement vector of the motor vehicle depending on the received information, - determining a plurality of characteristic features in an image of the two images and calculating the corresponding optical flow vectors to each extracted characteristic features, and by correlating said optical flow vectors with the current movement vector of the motor vehicle such that correction is effected based on the current movement of the motor vehicle , allowing to differentiate between ground features associated with a ground of the environmental region and target features associated with a target object , - dividing at least a partial region of the image in a plurality of image cells and examining to each image cell whether the image cell includes a ground feature or a target feature, - classifying those image cells , which include a target feature, as target cells , and those image cells , which include a ground feature, as ground cells , and - detecting the target object by combining a plurality of adjacent image cells to a target cluster depending on the target cells and the ground cells ; <EOS>