Apparatuses and methods for training a machine learning network for use with a time-of-flight camera

The present disclosure proposes a concept of training a machine learning network for use with a ToF camera. Based on a predefined synthetic scene, it is simulated a ground truth time resolved illumination return signal for a light pulse emitted from the ToF camera to the synthetic scene and scattered back from the synthetic scene to the ToF camera . The synthetic scene comprises a plurality of scene points with known distances between each of the scene points and the ToF camera. Based on the ground truth time resolved illumination return signal and a simulation model of the ToF camera , it is then simulated an output signal of at least one ToF pixel capturing the synthetic scene. Based on the simulated output signal of the ToF pixel and the ground truth time resolved illumination return signal, weights of the machine learning network are adjusted to cause the machine learning network to map the simulated output signal of the ToF pixel to an output time resolved illumination return signal approximating the ground truth time resolved illumination return signal.