The invention provides a distance measurement method determining the distance of a sensor system to a physical object, comprising the steps of obtaining, from the sensor system, at least a pair of stereoscopic images including the physical object, applying to each element of at least a portion of a first image of the pair of stereoscopic images and to each element of at least a portion of a second image of the pair of stereoscopic images at least two differently shaped and/or sized filters, respectively, determining correlation values for each filter applied to the first and second image, determining combined correlation values for the applied filters by combining the determined correlation values for each applied filter, evaluating the combined correlation values for different disparities for an extremum value of the combined correlation values, calculating a distance value of the sensor system to the physical object based on a disparity value at which the extremum occurs, and outputting the distance value.