Simulating shutter rolling effect

A method for generating synthetic data, comprising:

• computing a sequence of partial simulation images, where each of the sequence of partial simulation images is associated with an estimated simulation time and with part of a simulated environment at the respective estimated simulation time thereof;
• computing at least one simulated point-cloud, each simulated point-cloud simulating a point-cloud captured in a capture interval by a sensor operated in a scanning pattern from an environment equivalent to a simulated environment, where the scanning pattern describes a temporal distribution in the capture interval of a plurality of captured data points of the point-cloud, by applying to each partial simulation image of the sequence of partial simulation images a capture mask computed according to the scanning pattern and a relation between the capture interval and an estimated simulation time associated with the partial simulation image;
• and
• providing the at least one simulated point-cloud to at least one training engine to train a perception system comprising the sensor.

A system for training a perception system, comprising a sensor, comprising at least one processing circuitry adapted for:

• accessing at least one simulated point-cloud produced by:
• computing a sequence of partial simulation images, where each of the sequence of partial simulation images is associated with an estimated simulation time and with part of a simulated environment at the respective estimated simulation time thereof;
• computing at least one simulated point-cloud, each simulated point-cloud simulating a point-cloud captured in a capture interval by a sensor operated in a scanning pattern from an environment equivalent to a simulated environment, where the scanning pattern describes a temporal distribution in the capture interval of a plurality of captured data points of the point-cloud, by applying to each partial simulation image of the sequence of partial simulation images a capture mask computed according to the scanning pattern and a relation between the capture interval and an estimated simulation time associated with the partial simulation image;
• and
• providing the at least one simulated point-cloud to at least one training engine to train the perception system;
• and providing the at least one simulated point-cloud to at least one perception model of the perception system.