A method for determining a motion state of an object in the surroundings of a vehicle. The vehicle includes at least one vehicle camera for providing image data that represent the surroundings. Movability measures and pieces of quality information that are generated by processing the image data, are read in. The movability measures include generated continuous measured values for detecting moving object pixels, using correspondences, recognized using a correspondence algorithm, between pixels in successive images represented by the image data. Pixel-specific pieces of quality information are generated using the read-in pieces of quality information. The pixel-specific pieces of quality information indicate for each pixel the quality of the correspondences. A dynamic object probability is determined for each pixel, using the movability measures and the pixel-specific pieces of quality information. The dynamic object probability indicates for each pixel the probability of belonging to a moving object or to a static object.