Abstract: A method for generating a simulation scenario includes: receiving raw data, wherein the raw data comprises a plurality of successive LIDAR point clouds, a plurality of successive camera images, and successive velocity and/or acceleration data; merging the plurality of LIDAR point clouds from a determined region into a common coordinate system to produce a composite point cloud; locating and classifying one or more static objects within the composite point cloud; generating road information based on the composite point cloud, one or more static objects and at least one camera image; locating and classifying one or more dynamic road users within the plurality of successive LIDAR point clouds and generating trajectories for the one or more dynamic road users; creating a simulation scenario based on the one or more static objects, the road information, and the generated trajectories for the one or more dynamic road users; and exporting the simulation scenario.