A method for capturing objects in the environment of a vehicle includes generating a first light pattern in the environment of the vehicle using a light-emitting apparatus of the vehicle; generating a second light pattern in the environment of the vehicle using an alter light-emitting apparatus of an alter vehicle; transmitting generation parameters of the second light pattern from the alter vehicle to the vehicle; optically capturing the first light pattern and the second light pattern using a capturing module of the vehicle; and generating a depth image of at least part of the environment of the vehicle on the basis of the captured light patterns and the transmitted generation parameters.