1. A method for detecting objects with a pivotable sensor device having a scan sensor, comprising: emitting detection beams from the scan sensor to detect objects in a scanning range within a scanning plane, while changing a position of the scanning plane by pivoting the sensor device in a swivel range, as a result of which a plurality of detection planes are produced; detecting detection points of objects in surroundings of the sensor device using the detection beams in the detection planes; extracting first lines from the detection points of a respective detection plane; determining measuring points as intersection points of the lines with at least one predetermined measuring plane; classifying the measuring points in the respective measuring plane into blocks by for a measuring point to be classified, selecting another measuring point, from among those measuring points in already existing blocks that meet a predefined distance criterion, as having a shortest distance from the measuring point to be classified, where the predetermined distance criterion for a respective measuring point in a respective block is met if a first distance between the measuring point to be classified and the respective measuring point is shorter than a distance measure which depends on a second distance of the respective measuring point from an adjacent measuring point of the respective block, and placing the measuring point to be classified, adjacent to the selected measuring point, in a block containing the selected measuring point; and extracting second lines on a block basis from the measuring points in the blocks generated to determine structures of objects in the measuring planes.