A computer-implemented method for estimating an object size using range sensor detections detected by a range sensor mounted on a host vehicle. The method includes, for an object detected by the range sensor detections, over time, determining, based on the range sensor detections, pseudo measurements of dimensions of a bounding box enclosing the detected object. The method includes determining estimates for the dimensions of the bounding box, based on respective previous pseudo measurements and current pseudo measurements. The estimates are determined by taking into account a confidence measure for the range sensor detections. The method includes determining the object size based on the determined estimates.