diff --git a/raillabel/filter/filter.py b/raillabel/filter/filter.py
index 7ad3edd..174ef23 100644
--- a/raillabel/filter/filter.py
+++ b/raillabel/filter/filter.py
@@ -6,50 +6,33 @@
 from copy import deepcopy
 from uuid import UUID
 
-from raillabel.format import Bbox, Cuboid, Frame, Poly2d, Poly3d, Scene, Seg3d
+from raillabel.format import (
+    Bbox,
+    Camera,
+    Cuboid,
+    Frame,
+    GpsImu,
+    Lidar,
+    Object,
+    OtherSensor,
+    Poly2d,
+    Poly3d,
+    Radar,
+    Scene,
+    Seg3d,
+)
 
 from ._filter_abc import _AnnotationLevelFilter, _FilterAbc, _FrameLevelFilter
 
 
 def filter_(scene: Scene, filters: list[_FilterAbc]) -> Scene:
     """Return a scene with filters applied to annotations, frame, sensors and objects."""
-    filtered_scene = Scene(metadata=deepcopy(scene.metadata))
-
-    used_sensor_ids = set()
-    used_object_ids = set()
-
     frame_filters, annotation_filters = _separate_filters(filters)
 
-    for frame_id, frame in scene.frames.items():
-        if not _frame_passes_all_filters(frame_id, frame, frame_filters):
-            continue
-
-        filtered_frame = Frame(
-            timestamp=deepcopy(frame.timestamp),
-            sensors=deepcopy(frame.sensors),
-            frame_data=deepcopy(frame.frame_data),
-        )
-
-        for annotation_id, annotation in frame.annotations.items():
-            if not _annotation_passes_all_filters(annotation_id, annotation, annotation_filters):
-                continue
-
-            filtered_frame.annotations[annotation_id] = deepcopy(annotation)
-            used_sensor_ids.add(annotation.sensor_id)
-            used_object_ids.add(annotation.object_id)
-
-        filtered_scene.frames[frame_id] = filtered_frame
-
-    filtered_scene.sensors = {
-        sensor_id: deepcopy(sensor)
-        for sensor_id, sensor in scene.sensors.items()
-        if sensor_id in used_sensor_ids
-    }
-    filtered_scene.objects = {
-        object_id: deepcopy(object_)
-        for object_id, object_ in scene.objects.items()
-        if object_id in used_object_ids
-    }
+    filtered_scene = Scene(metadata=deepcopy(scene.metadata))
+    filtered_scene.frames = _filter_frames(scene.frames, frame_filters, annotation_filters)
+    filtered_scene.sensors = _get_used_sensors(scene, filtered_scene)
+    filtered_scene.objects = _get_used_objects(scene, filtered_scene)
 
     return filtered_scene
 
@@ -69,6 +52,37 @@ def _separate_filters(
     return frame_filters, annotation_filters
 
 
+def _filter_frames(
+    frames: dict[int, Frame],
+    frame_filters: list[_FrameLevelFilter],
+    annotation_filters: list[_AnnotationLevelFilter],
+) -> dict[int, Frame]:
+    filtered_frames = {}
+
+    for frame_id, frame in frames.items():
+        if _frame_passes_all_filters(frame_id, frame, frame_filters):
+            filtered_frames[frame_id] = Frame(
+                timestamp=deepcopy(frame.timestamp),
+                sensors=deepcopy(frame.sensors),
+                frame_data=deepcopy(frame.frame_data),
+                annotations=_filter_annotations(frame, annotation_filters),
+            )
+
+    return filtered_frames
+
+
+def _filter_annotations(
+    frame: Frame, annotation_filters: list[_AnnotationLevelFilter]
+) -> dict[UUID, Bbox | Cuboid | Poly2d | Poly3d | Seg3d]:
+    annotations = {}
+
+    for annotation_id, annotation in frame.annotations.items():
+        if _annotation_passes_all_filters(annotation_id, annotation, annotation_filters):
+            annotations[annotation_id] = deepcopy(annotation)
+
+    return annotations
+
+
 def _frame_passes_all_filters(
     frame_id: int, frame: Frame, frame_filters: list[_FrameLevelFilter]
 ) -> bool:
@@ -81,3 +95,25 @@ def _annotation_passes_all_filters(
     annotation_filters: list[_AnnotationLevelFilter],
 ) -> bool:
     return all(filter_.passes_filter(annotation_id, annotation) for filter_ in annotation_filters)
+
+
+def _get_used_sensors(
+    scene: Scene, filtered_scene: Scene
+) -> dict[str, Camera | Lidar | Radar | GpsImu | OtherSensor]:
+    used_sensors = {}
+    for frame in filtered_scene.frames.values():
+        for annotation in frame.annotations.values():
+            if annotation.sensor_id not in used_sensors:
+                used_sensors[annotation.sensor_id] = deepcopy(scene.sensors[annotation.sensor_id])
+
+    return used_sensors
+
+
+def _get_used_objects(scene: Scene, filtered_scene: Scene) -> dict[UUID, Object]:
+    used_objects = {}
+    for frame in filtered_scene.frames.values():
+        for annotation in frame.annotations.values():
+            if annotation.object_id not in used_objects:
+                used_objects[annotation.object_id] = deepcopy(scene.objects[annotation.object_id])
+
+    return used_objects