A method for imaging the surrounding of a vehicle is provided. The method includes the steps of (i) taking a series of two dimensional images of the vehicle surrounding, (ii) taking a series of three dimensional images of the vehicle surrounding that including depth information, (iii) determining at least one object in an area of interest in one of the series of images and tracking the object in the area of interest, (iv) processing the others of the series of images to retrieve object information from said other series of images, (v) adjusting the objects to be tracked in the one series of images in accordance with the object information received from processing the other series of images.