Abstract: A computer-implemented method for generating a synthetic training data set for training a machine learning computer vision model for performing at least one user defined computer vision task, in which spatially resolved sensor data are processed and evaluated with respect to at least one user defined object of interest, including receiving at least one model of a user defined object of interest; determining at least one render parameter and multiple render parameters; generating a set of training images by rendering the at least one model of the object of interest based on the at least one render parameter; generating annotation data for the set of training images with respect to the at least one object of interest; and providing a training data set including the set of training images and the annotation data for being output to the user and/or for training the computer vision model.