A method comprising: receiving, with a controller circuit, radar data and/or lidar data representing detections of an object proximate to a host vehicle; receiving, with the controller circuit, image data representing a captured image of the object; determining, with the controller circuit, an identity of the object based on the image data; characterized in that the method further comprises: determining, with the controller circuit based on the radar data and the image data, a radar profile including a two-dimensional representation of the radar data relative to a host vehicle coordinate system and an associated image of the object, and/or determining, with the controller circuit based on the lidar data and the image data, a lidar-map representation of cloud-points in the lidar data relative the host vehicle coordinate system and the associated image of the object; annotating the radar-profile and/or the lidar-map in accordance with the identity and an orientation of the object; and storing with the controller circuit the radar-profile and/or the lidar-map in a memory comprised in the controller-circuit, on-board the host-vehicle, and/or uploading with the controller circuit the radar-profile and/or the lidar-map to a remote data-base of annotated radar-profiles and/or annotated lidar-maps for future reference. receiving, with a controller circuit, radar data and/or lidar data representing detections of an object proximate to a host vehicle; receiving, with the controller circuit, image data representing a captured image of the object; determining, with the controller circuit, an identity of the object based on the image data; characterized in that the method further comprises: determining, with the controller circuit based on the radar data and the image data, a radar profile including a two-dimensional representation of the radar data relative to a host vehicle coordinate system and an associated image of the object, and/or determining, with the controller circuit based on the lidar data and the image data, a lidar-map representation of cloud-points in the lidar data relative the host vehicle coordinate system and the associated image of the object; annotating the radar-profile and/or the lidar-map in accordance with the identity and an orientation of the object; and storing with the controller circuit the radar-profile and/or the lidar-map in a memory comprised in the controller-circuit, on-board the host-vehicle, and/or uploading with the controller circuit the radar-profile and/or the lidar-map to a remote data-base of annotated radar-profiles and/or annotated lidar-maps for future reference. determining, with the controller circuit based on the radar data and the image data, a radar profile including a two-dimensional representation of the radar data relative to a host vehicle coordinate system and an associated image of the object, and/or determining, with the controller circuit based on the lidar data and the image data, a lidar-map representation of cloud-points in the lidar data relative the host vehicle coordinate system and the associated image of the object; annotating the radar-profile and/or the lidar-map in accordance with the identity and an orientation of the object; and storing with the controller circuit the radar-profile and/or the lidar-map in a memory comprised in the controller-circuit, on-board the host-vehicle, and/or uploading with the controller circuit the radar-profile and/or the lidar-map to a remote data-base of annotated radar-profiles and/or annotated lidar-maps for future reference.