1. A method for analysing objects in an environment and/or scenes in an environment with an evaluation unit, the method comprising: evaluating image data (x t ) by the evaluation unit based on a conditional random field model having a first model layer which segments the image data into one or more scenes; and providing additional object nodes (o t n ) to the conditional random field model by forming a second model layer occupied by the additional object nodes which take into account information from an object detector that classifies the image data into one or more objects, the additional object nodes of the second model layer being connected to nodes of the first model layer which support object hypotheses of the corresponding additional object nodes, wherein a shared segmentation of the image data of object and scene classes is conducted.