Abstract: A method for generating synthetic image data for imitating raw camera data from a mosaic filter sensor. The mosaic filter sensor comprises an arrangement of sensor pixels and, in addition, a mosaic filter designed as a periodic mosaic of color filters of different colors that are arranged such that each sensor pixel from the arrangement of sensor pixels is covered by exactly one color filter. The method comprises a positioning and spatial orientation of a virtual camera in a three-dimensional virtual environment on a computer system and a simulation of an imaging by camera optics of colored light on sensor pixels of a mosaic filter sensor incorporated in the virtual camera. Via a reading of the pixel brightness measure associated with the respective color value, the pixel brightness of the respective sensor pixel is derived as a function of the color value of the light imaged on the sensor pixel.