1. A method comprising: simulating, using one or more processors, a three-dimensional (3D) environment comprising one or more parking barriers; generating, using one or more processors, virtual sensor data for a plurality of positions of one or more sensors within the 3D environment; determining, using one or more processors, virtual ground truth corresponding to each of the plurality of positions, wherein the ground truth comprises a height of the at least one of the parking barriers; and storing and associating the virtual sensor data and the virtual ground truth using one or more processors.