The present disclosure relates to a sensor apparatus for sensing data of an agent (for example a vehicle) performing a movement along an agent trajectory. An example sensor apparatus includes a motion sensor configured to obtain motion sensor data of the agent along the agent trajectory, a lidar sensor configured to obtain lidar data along the agent trajectory, and an imaging sensor configured to obtain image data along the agent trajectory. Furthermore, the sensor apparatus includes a processing circuitry configured to determine, based on the motion sensor data and the lidar data, a plurality of first poses of the lidar sensor along the agent trajectory and to determine, based on the motion sensor data and the image data, a plurality of second poses of the imaging sensor along the agent trajectory.