Abstract: Synthetic object detection data is generated for a modeled sensor, such as a camera. Scenario data specifying objects, such as vehicles, sensor intrinsics, such as focal length, principal point, and image size, and sensor extrinsics, such location and orientation in the scenario of the sensor, may be received. An object detector model may detect a given object in the scenario if it lies within the sensor's field of view, is large enough, and is not occluded. Two dimensional (2D) image plane position and velocity measurements may be generated. A measurement noise model may add noise to the measurements. Position, velocity, and measurement noise may be mapped into a three dimensional (3D) world coordinate system. An object detection list that includes time of detection, detected position and velocity, measurement accuracy, and an object classification for detected objects may be output.