One or more sets of model samples of model sensor data are accessed (110). Each set comprises one or more model samples corresponding to an annotation of one or more annotations. The following are performed for each set to yield one or more annotated model characteristic functions: represent each model sample of the each set as a model minterm to yield a set of model minterms (118) generate a model characteristic function from the set of model minterms (122), the model characteristic function indicating whether a given minterm is a member of the set of model minterms and annotate the model characteristic function to yield an annotated model characteristic function. A general model characteristic function is generated from the one or more annotated model characteristic functions. The characteristic function may particularly be represented by a binary decision diagram (BDD).
