A method for training an artificial intelligence module for an advanced driver assistance system for obtaining a depth model of a scene uses data of a camera image and a depth image of a LIDAR sensor as input, and is trained for outputting the depth model of the scene. The depth model has a higher resolution than the depth image of the LIDAR sensor. The method of training the artificial intelligence module includes acquiring depth measurement data of the scene, which are obtained by combining images of a plurality of other LIDAR sensors, and which are used as a ground truth for the depth model of the scene.