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 set of voxels of the 3D model to determine locations in the environment that can be sensed by the set of sensors to produce coverage data for each voxel, wherein the coverage data includes an identity of each sensor, a number of rays cast through each voxel, and angles from which each voxel can be sensed by the set of sensors; and analyzing the coverage data to determine a result indicative of an effective arrangement of the set of sensors, and wherein description of the environment, the voxels and the coverage data are three dimensional, and the steps are performed in a processor.