A method for calibrating a vehicle sensor of a motor vehicle. The method includes: ascertaining sensor data for a plurality of measuring points in time during a total measuring time period, the total measuring time period being subdivided into partial measuring time periods, and the motor vehicle moving relative to objects in surroundings of the motor vehicle; for each partial measuring time period, computing positions of the objects based on the ascertained sensor data; for each partial measuring time period, computing a partial measuring time period sinogram based on the computed positions; computing a total measuring time period sinogram by adding the partial measuring time period sinograms and correcting using a factor that is a function of the partial measuring time period sinograms; ascertaining an orientation of the vehicle sensor based on the total measuring time period sinogram; and calibrating the vehicle sensor based on the ascertained orientation.