Method for generating input data for a machine learning model

A method for generating input data for a machine learning model, comprising:

• capturing data, using at least one sensor, in an environment of the at least one sensor and from a perspective of the at least one sensor;
• determining, from the captured data, a point cloud including a first plurality of points corresponding to surfaces detected by the at least one sensor in the environment of the at least one sensor, the first plurality of points determined from the perspective of the at least one sensor;
• generating a preliminary target sensor point cloud of a target sensor by transforming the first plurality of points of the determined point cloud into a second plurality of points from a perspective of the target sensor based on a relative position of the target sensor to the at least one sensor, the perspective of the target sensor being different from the perspective of the at least one sensor;
• generating a target sensor point cloud as would be output by the target sensor by eliminating points of the second plurality of points from the preliminary target sensor point cloud, the eliminated points corresponding to surfaces, within a target range of the target sensor, but that are not detectable by the target sensor from the perspective of the target sensor;
• and
• using the target sensor point cloud as an input for training the machine learning model when no data has been captured from the perspective of the target sensor,
• wherein the eliminated points correspond to surfaces that are hidden from view of the target sensor from the perspective of the target sensor, but that are visible to the at least one sensor from the perspective of the at least one sensor,
• wherein the at least one sensor is installed in the environment,
• wherein the target sensor is not yet installed in the environment, and
• wherein the target sensor point cloud corresponds to data that would be generated by the target sensor when the target sensor is installed in the environment at a position resulting in the perspective of the target sensor.