There is provided a computer implemented method of central sensor augmentation. The method comprises receiving a first
perception message from a first computing device comprised in a first
mobile entity (10), wherein the first
perception message is generated by a
perception subsystem of the first
mobile entity (10), and wherein the first perception message comprises at least a location of the first
mobile entity (10), and a representation of a
field of view (11) of at least one sensor of the first mobile entity (10). Further, the method comprises receiving a second perception message from a second computing device comprised in a second mobile entity (20), wherein the second perception message is generated by a perception subsystem of the second mobile entity (20), and wherein the second perception message comprises at least a location of the second mobile entity (20), and a representation of a
field of view of at least one sensor of the second mobile entity (20). Further, the method comprises updating first and second virtual mobile entity environment models of the first and second mobile entities using at least the sensor data comprised in the first and second perception messages, respectively. Further, the method comprises incorporating at least the first and second virtual mobile entity environment models into a unified environment model; wherein the first and second virtual mobile entity environment models are registered to a common coordinate
system. Further, the method comprises generating, for at least the first computing device, a representation of an augmented
field of view in the unified environment model comprising at least a portion of the representation of the field of view obtained by the at least one sensor of the second mobile entity (20). Further, the method comprises transmitting, to the first computing device, a message comprising at least the portion of the representation of the field of view obtained by the sensor of the second mobile entity (20) used in the representation of the augmented field of view.