A method for detecting and categorizing points of light for a motor vehicle with a camera sensor directed towards the motor vehicle environment is presented. Here, at least one first category for passive, illumined reflectors and at least one second category for self-radiating, moving lights, in particular motor vehicle lights, is provided. For this purpose, the time progression of the intensity of a point of light is analysed. On the basis of the intensity fluctuation, points of light are categorized as motor vehicle lights or as reflectors.