A method for generating training data includes: defining a corresponding category tag for an object model in a three-dimensional scenario; acquiring a plurality of corresponding scenario images by modifying scenario parameters of the three-dimensional scenario; rendering the object model to a monochromic material corresponding to the category tag of the object model; acquiring a semantic segmentation image corresponding to each scenario image based on the rendered object model; and storing each scenario image and the semantic segmentation image corresponding to the scenario image as a set of training data.