To provide a method and a device for simulating a simulation image generated by a three-dimensional imaging system.

A group of models 128 for a group of influences 130 exerted in an image generated by a three-dimensional imaging system 102 is specified. The one group of models 128 and a three-dimensional rendering system 115 are used to generate a simulation image 152 simulating the image generated by the three-dimensional imaging system 102. In a step of generating the simulation image 152, simulation data 138 including an image buffer 140 and a depth buffer 142 is generated using the one group of models 128 for the one group of influences 130, an environment model 116, a sensor model 118, and the three-dimensional rendering system 115.