1. An optoelectronic sensor ( 10 ) for the detection and distance determination of objects in a monitoring area ( 18 ), the sensor ( 10 ) comprising: a light transmitter ( 12 ) for transmitting a transmission light beam ( 14 ) having a plurality of consecutive individual light pulses; a rotatable deflection unit ( 16 ) for a periodic deflection of the transmission light beam ( 14 ) in the monitoring area ( 18 ); an angle measuring unit ( 28 ) for determining an angular position of the deflection unit ( 16 ); a light receiver ( 24 ) for generating reception pulses from transmission light remitted or reflected by objects in the monitoring area ( 18 ); at least one histogram memory ( 34 ); and an evaluation unit ( 30 ) which is configured to accumulate a time histogram from a plurality of reception pulses in the histogram memory ( 34 ) and to determine, from the histogram, a light time of flight from the sensor ( 10 ) to an object and therefrom an object distance, wherein a plurality of histogram memories ( 34 ) is provided, each associated with an angular position, and the evaluation unit ( 30 ) is configured to intermittently accumulate time histograms in the histogram memories ( 34 ) across several rotations of the deflection unit ( 16 ) from reception pulses which are each detected at the same angular position associated with the respective histogram memory ( 34 ), and to determine the object distance for an angular position from the histogram of the associated histogram memory ( 34 ).