To improve autonomous cars, the dynamic systems method is re-enacted. Due to the unreality of the sensors employed in vehicles, human creation of the surrounding environment and objects is necessitated. We propose a novel efficient method for generating accurate scenario sensor data using limited LIDAR and video data from an autonomous vehicle. A new SurfelGAN network recreates realistic camera pictures to recognise the cars and moving objects in the scenario. The suggested approach uses real-world camera image data from Waymo Open Dataset to evaluate actual scenarios for autonomous vehicle movement. A new dataset allows for simultaneous analysis of two autonomous cars. This dataset is used to test and explain the proposed SurfelGAN model. GAN is the greatest technique for capturing realistic pictures. The machine generates precise sensor data that is used to identify obstacles, cars, and other moving objects in the route of an autonomous vehicle. The autonomous car approaches the destination by recreating a surfel scene. Pictures are collected using semantic and instance segmentation masks.