A method and system for generated simulated sensor data which includes simulation perception of a 3D model by one or more sensors to obtain one or more sensor outputs such that the one or more sensor outputs simulate sensor noise. The 3D model maybe a scenario 302 that includes models of vehicles and a typical driving environment where perception of the scenario by sensors at the sensor locations is simulated 306 to obtain simulated sensor outputs. The simulated sensor outputs are annotated 308 according to the location of obstacles in the 3D model. Annotating may include listing the actual locations and/or relative velocity of obstacles in a scenario, such as vehicles, pedestrians, signs, buildings etc. Locations and velocities may be included in the annotation relative to the position of the subject vehicle. The annotated sensor outputs may then be used 318 to validate a statistical model or to train a machine learning model 320. The simulated sensor outputs may be modelled with sufficient detail to include sensor noise or may include artificially added noise to simulate real world conditions.
Generating simulated sensor data for training and validation of detection models