A system for generating annotated ground truth data for training a machine learning model for inferring a desired scan configuration of an medical imaging system from an observed workflow scene during exam preparation, comprising: - an exam metadata interface, configured to access exam metadata of an imaging examination carried out with a medical imaging apparatus of at least one medical imaging system, wherein the exam metadata comprises information about a configuration of the medical imaging apparatus; a sensor data interface, configured to access a measurement image of a patient positioned in a given geometry with respect to a reference coordinate system of the medical imaging apparatus of the at least one medical imaging system for the imaging examination, wherein the measurement image is generated on the basis of sensor data obtained from a sensor arrangement, which has a field of view including at least part of an area, where the patient is positioned for imaging; - a medical image data interface, configured to access a medical image of the patient obtained from the medical imaging apparatus of the at least one medical imaging system during the imaging examination; - a processing unit, configured to determine an association between one or more features in the measurement image and one or more features extracted from the medical image and/or from the exam metadata by mapping a point in a coordinate system of the medical image to a point in a coordinate system of the measurement image; and - an output interface, configured to be coupled to a training set database for adding the measurement image comprising data that labels the one or more associated features in the measurement image to the training set database for training the machine learning model. - an exam metadata interface, configured to access exam metadata of an imaging examination carried out with a medical imaging apparatus of at least one medical imaging system, wherein the exam metadata comprises information about a configuration of the medical imaging apparatus; a sensor data interface, configured to access a measurement image of a patient positioned in a given geometry with respect to a reference coordinate system of the medical imaging apparatus of the at least one medical imaging system for the imaging examination, wherein the measurement image is generated on the basis of sensor data obtained from a sensor arrangement, which has a field of view including at least part of an area, where the patient is positioned for imaging; - a medical image data interface, configured to access a medical image of the patient obtained from the medical imaging apparatus of the at least one medical imaging system during the imaging examination; - a processing unit, configured to determine an association between one or more features in the measurement image and one or more features extracted from the medical image and/or from the exam metadata by mapping a point in a coordinate system of the medical image to a point in a coordinate system of the measurement image; and - an output interface, configured to be coupled to a training set database for adding the measurement image comprising data that labels the one or more associated features in the measurement image to the training set database for training the machine learning model.