Method for calibrating a 3D image sensor , wherein the method includes: for each of a plurality of different predetermined spatial points (120a, b, c) on one or more radiation reflection surfaces of at least one physical structure within the field of view of a 3D image sensor , wherein the position of the spatial points (120a, b, c) is fixed in each case in the field of view of the 3D image sensor : initiating the measurement of a distance (D1, D2, D3) of the respective spatial point (120a, b, c) from the 3D image sensor and receiving a value for the distance (D1, D2, D3) that is in each case measured in the process; and ascertaining a distance deviation (A1,..., A3) of the respective measured distance (D1, D2, D3) from a respective reference distance (R1, R2, R3) that has been determined in advance as a measure of an actual distance of the respective spatial point from the 3D image sensor ; determining a distance correction value (Bj) in dependence on the distance deviations (Ax, Ay) ascertained in each case for at least two of the spatial points (120a, b, c) in a manner such that the distance correction value (Bj) lies in the distance interval spanned by these distance deviations (Ax, Ay); and taking into account the distance correction value (Bj) as part of a correction of the measurement result for at least one distance measured during a subsequent further distance measurement by means of the 3D image sensor , characterized in that a check is performed as to the number of spatial points (120a, b, c) whose respective ascertained distance deviation (A1,...,A3) reaches or exceeds a predetermined deviation threshold; if this number reaches or exceeds a predetermined number threshold, terminating the method or, if the method sequence includes multiple stages, at least the current pass (j) through the method; and otherwise continuing the method or current pass (j). initiating the measurement of a distance (D1, D2, D3) of the respective spatial point (120a, b, c) from the 3D image sensor and receiving a value for the distance (D1, D2, D3) that is in each case measured in the process; and ascertaining a distance deviation (A1,..., A3) of the respective measured distance (D1, D2, D3) from a respective reference distance (R1, R2, R3) that has been determined in advance as a measure of an actual distance of the respective spatial point from the 3D image sensor ; determining a distance correction value (Bj) in dependence on the distance deviations (Ax, Ay) ascertained in each case for at least two of the spatial points (120a, b, c) in a manner such that the distance correction value (Bj) lies in the distance interval spanned by these distance deviations (Ax, Ay); and taking into account the distance correction value (Bj) as part of a correction of the measurement result for at least one distance measured during a subsequent further distance measurement by means of the 3D image sensor , characterized in that a check is performed as to the number of spatial points (120a, b, c) whose respective ascertained distance deviation (A1,...,A3) reaches or exceeds a predetermined deviation threshold; if this number reaches or exceeds a predetermined number threshold, terminating the method or, if the method sequence includes multiple stages, at least the current pass (j) through the method; and otherwise continuing the method or current pass (j). <EOS>