1. A method for analyzing coverage of a three-dimensional environment by a set of sensors, comprising the steps of: partitioning a 3D model of the environment into a set of voxels, wherein each voxel represents a portion of the environment; and casting a ray from each pixel in each sensor through the 3D model to determine coverage data for each voxel; and analyzing the coverage data to determine a result indicative of an effective arrangement of the set of sensors, and wherein the description of the environment, the voxels and the coverage data are three dimensional, and the steps are performed in a processor.