diff --git a/raillabel/filter/__init__.py b/raillabel/filter/__init__.py
index 4d90bb1..80c61f1 100644
--- a/raillabel/filter/__init__.py
+++ b/raillabel/filter/__init__.py
@@ -10,6 +10,7 @@
 from .include_annotation_id_filter import IncludeAnnotationIdFilter
 from .include_annotation_type_filter import IncludeAnnotationTypeFilter
 from .include_frame_id_filter import IncludeFrameIdFilter
+from .include_object_id_filter import IncludeObjectIdFilter
 from .start_time_filter import StartTimeFilter
 
 __all__ = [
@@ -22,4 +23,5 @@
     "ExcludeAnnotationIdFilter",
     "IncludeAnnotationTypeFilter",
     "ExcludeAnnotationTypeFilter",
+    "IncludeObjectIdFilter",
 ]
diff --git a/raillabel/filter/include_object_id_filter.py b/raillabel/filter/include_object_id_filter.py
new file mode 100644
index 0000000..96aa7e5
--- /dev/null
+++ b/raillabel/filter/include_object_id_filter.py
@@ -0,0 +1,22 @@
+# Copyright DB InfraGO AG and contributors
+# SPDX-License-Identifier: Apache-2.0
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from uuid import UUID
+
+from raillabel.format import Bbox, Cuboid, Poly2d, Poly3d, Seg3d
+
+from ._filter_abc import _AnnotationLevelFilter
+
+
+@dataclass
+class IncludeObjectIdFilter(_AnnotationLevelFilter):
+    """Filter out all annotations in the scene, that do NOT have matching object ids."""
+
+    object_ids: list[UUID]
+
+    def passes_filter(self, _: UUID, annotation: Bbox | Cuboid | Poly2d | Poly3d | Seg3d) -> bool:
+        """Assess if an annotation passes this filter."""
+        return annotation.object_id in self.object_ids
diff --git a/tests/filter/test_filter.py b/tests/filter/test_filter.py
index 8671a42..1b6d5f0 100644
--- a/tests/filter/test_filter.py
+++ b/tests/filter/test_filter.py
@@ -108,5 +108,20 @@ def test_exclude_annotation_type():
     assert actual == SceneBuilder.empty().add_bbox().result
 
 
+def test_include_object_ids():
+    scene = (
+        SceneBuilder.empty()
+        .add_bbox(object_name="person_0001")
+        .add_cuboid(object_name="train_0001")
+        .result
+    )
+    filters = [
+        raillabel.filter.IncludeObjectIdFilter([UUID("5c59aad4-0000-4000-0000-000000000000")])
+    ]
+
+    actual = raillabel.filter.filter_(scene, filters)
+    assert actual == SceneBuilder.empty().add_bbox(object_name="person_0001").result
+
+
 if __name__ == "__main__":
     pytest.main([__file__, "-vv"])