Object Models

• Faster than real-time

• Ground truth object list input

• Object list output

• Effects, like field of view, occlusion and noise

Phenomenological Models

• Faster than real-time

• Ground truth object list input

• Object list or detection output

• Effects, like intensities, tracking behavior, weather influence and more

• Stochastic behavior extracted from real-world measurements

Physical Models

• Real-time capable

• Ground truth object list and 3D asset input

• Detection output

• High-fidelity ray tracing in own engine

• Physically accurate effects, like intensities, multi-path propagation, weather influence