Method and system for creating and simulating a realistic 3d virtual world

A system for creating data for a host vehicle simulation, comprising:

• an input interface for obtaining from an environment simulation engine in each of a plurality of iterations of a host vehicle simulation engine, simulating a certain geographic area, a semantic-data dataset representing a plurality of scene objects present in said geographical area, each one of said plurality of scene objects is individually described within said semantic-data dataset, wherein a description of each of the plurality of objects comprises at least object location coordinates and a plurality of values of semantically described parameters, said semantically described parameters are indicative of at least one member of a group consisting of color, size, shape, text on signboards and states of traffic lights;
• at least one processor for conducting in each of said plurality of iterations:
• creating a virtual three dimensional (3D) visual realistic scene emulating said geographical area according to said semantic-data dataset, by placing individually, at least some of said objects in said virtual 3D visual realistic scene and by injecting one or more dynamic or moving objects into said virtual 3D visual realistic scene;
• applying at least one noise pattern associated with at least one sensor of a vehicle simulated by a host vehicle simulation engine on said virtual 3D visual realistic scene to create sensory ranging data simulation of said geographical area;
• converting said sensory ranging data simulation to an enhanced semantic-data dataset emulating said geographical area by enhancing said plurality of scene objects comprising:
• adjusting object location coordinates based on said created sensory ranging data;
• and
• adapting values of said semantically described parameters, based on said created sensory ranging data;
• and
• an output interface for providing said enhanced semantic-data dataset to said host vehicle simulation engine for updating a simulation of said vehicle in said geographical area.