capturing the environment with the at least one trailer camera from a first position and, in dependence thereon, generating a first image having a plurality of first pixels;

changing the position of the at least one trailer camera;

capturing the environment with the at least one trailer camera from a second position and, in dependence thereon, creating a second image having a plurality of second pixels;

determining object information relating to the object in the captured environment by:

selecting at least one first pixel in the first image and at least one second pixel in the second image such that they are assigned to a same object point of the object in the captured environment; and,

determining object coordinates of the object point from first image coordinates of the at least one first pixel and from second image coordinates of the at least one second pixel by triangulation assuming a base length between the first position and the second position of the trailer camera, the base length between the two positions being determined based on odometry data of the vehicle, wherein the odometry data characterize an adjustment of the trailer camera between the first position and the second position; and,

wherein at least one of: the odometry data include a bending angle between the at least one trailer and the at least one towing vehicle; and, the odometry data is dependent on the bending angle in order to increase an accuracy of determining the base length between the first position and the second position of the trailer camera.