diff --git a/raillabel/scene_builder/scene_builder.py b/raillabel/scene_builder/scene_builder.py
index 9711746..d398a0c 100644
--- a/raillabel/scene_builder/scene_builder.py
+++ b/raillabel/scene_builder/scene_builder.py
@@ -7,7 +7,18 @@
 from dataclasses import dataclass
 from uuid import UUID
 
-from raillabel.format import Metadata, Object, Scene
+from raillabel.format import (
+    Camera,
+    GpsImu,
+    IntrinsicsPinhole,
+    IntrinsicsRadar,
+    Lidar,
+    Metadata,
+    Object,
+    OtherSensor,
+    Radar,
+    Scene,
+)
 
 
 @dataclass
@@ -27,7 +38,7 @@ def add_object(
         object_type: str | None = None,
         object_name: str | None = None,
     ) -> SceneBuilder:
-        """Add an object to a scene."""
+        """Add an object to the scene."""
         scene = deepcopy(self.result)
 
         object_type, object_name = _resolve_empty_object_name_or_type(object_type, object_name)
@@ -36,6 +47,43 @@ def add_object(
         scene.objects[object_id] = Object(object_name, object_type)
         return SceneBuilder(scene)
 
+    def add_sensor(self, sensor_id: str) -> SceneBuilder:
+        """Add a sensor to the scene.
+
+        The sensor type is implicitly determined by the sensor_id. Id's, that start with 'rgb_' or
+        'ir_' are added as a camera. If the id is 'lidar', it is a lidar. 'radar' creates a Radar.
+        'gps_imu' creates a GpsImu. If the id does not match any of these, a OtherSensor is added.
+        """
+        scene = deepcopy(self.result)
+
+        truncated_sensor_id = sensor_id.split("_")[0].lower()
+
+        if truncated_sensor_id in ["rgb", "ir"]:
+            scene.sensors[sensor_id] = Camera(
+                intrinsics=IntrinsicsPinhole(
+                    camera_matrix=(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0),
+                    distortion=(0, 0, 0, 0, 0),
+                    width_px=0,
+                    height_px=0,
+                )
+            )
+
+        elif truncated_sensor_id == "radar":
+            scene.sensors[sensor_id] = Radar(
+                intrinsics=IntrinsicsRadar(resolution_px_per_m=0, width_px=0, height_px=0)
+            )
+
+        elif truncated_sensor_id == "lidar":
+            scene.sensors[sensor_id] = Lidar()
+
+        elif truncated_sensor_id == "gps":
+            scene.sensors[sensor_id] = GpsImu()
+
+        else:
+            scene.sensors[sensor_id] = OtherSensor()
+
+        return SceneBuilder(scene)
+
 
 def _resolve_empty_object_name_or_type(
     object_type: str | None, object_name: str | None
@@ -56,7 +104,7 @@ def _resolve_empty_object_name_or_type(
     if object_name is not None and object_type is not None:
         return object_type, object_name
 
-    raise RuntimeError
+    raise RuntimeError  # this part is unreachable but this is the only way that mypy is happy
 
 
 def _resolve_empty_object_uid(scene: Scene, object_id: str | UUID | None) -> UUID:
@@ -64,6 +112,7 @@ def _resolve_empty_object_uid(scene: Scene, object_id: str | UUID | None) -> UUI
         uid_index = 0
         while _generate_deterministic_uuid(uid_index, "5c59aad4") in scene.objects:
             uid_index += 1
+
         object_id = _generate_deterministic_uuid(uid_index, "5c59aad4")
 
     return UUID(str(object_id))
diff --git a/tests/test_raillabel/scene_builder/test_scene_builder.py b/tests/test_raillabel/scene_builder/test_scene_builder.py
index 3923ea1..8a8162d 100644
--- a/tests/test_raillabel/scene_builder/test_scene_builder.py
+++ b/tests/test_raillabel/scene_builder/test_scene_builder.py
@@ -7,8 +7,19 @@
 import pytest
 
 import raillabel
-from raillabel.format import Scene, Metadata, Object
 from raillabel.scene_builder.scene_builder import SceneBuilder
+from raillabel.format import (
+    Scene,
+    Metadata,
+    Object,
+    Camera,
+    Lidar,
+    Radar,
+    GpsImu,
+    OtherSensor,
+    IntrinsicsPinhole,
+    IntrinsicsRadar,
+)
 
 
 def test_empty():
@@ -91,5 +102,76 @@ def test_add_object__object_id_iteration():
     )
 
 
+def test_add_sensor__camera_rgb():
+    actual = SceneBuilder.empty().add_sensor("rgb_middle")
+    assert actual.result == Scene(
+        metadata=Metadata(schema_version="1.0.0"),
+        sensors={
+            "rgb_middle": Camera(
+                intrinsics=IntrinsicsPinhole(
+                    camera_matrix=tuple([0] * 12),
+                    distortion=tuple([0] * 5),
+                    width_px=0,
+                    height_px=0,
+                )
+            )
+        },
+    )
+
+
+def test_add_sensor__camera_ir():
+    actual = SceneBuilder.empty().add_sensor("ir_left")
+    assert actual.result == Scene(
+        metadata=Metadata(schema_version="1.0.0"),
+        sensors={
+            "ir_left": Camera(
+                intrinsics=IntrinsicsPinhole(
+                    camera_matrix=tuple([0] * 12),
+                    distortion=tuple([0] * 5),
+                    width_px=0,
+                    height_px=0,
+                )
+            )
+        },
+    )
+
+
+def test_add_sensor__radar():
+    actual = SceneBuilder.empty().add_sensor("radar")
+    assert actual.result == Scene(
+        metadata=Metadata(schema_version="1.0.0"),
+        sensors={
+            "radar": Radar(
+                intrinsics=IntrinsicsRadar(
+                    resolution_px_per_m=0,
+                    width_px=0,
+                    height_px=0,
+                )
+            )
+        },
+    )
+
+
+def test_add_sensor__lidar():
+    actual = SceneBuilder.empty().add_sensor("lidar")
+    assert actual.result == Scene(
+        metadata=Metadata(schema_version="1.0.0"), sensors={"lidar": Lidar()}
+    )
+
+
+def test_add_sensor__gps_imu():
+    actual = SceneBuilder.empty().add_sensor("gps_imu")
+    assert actual.result == Scene(
+        metadata=Metadata(schema_version="1.0.0"), sensors={"gps_imu": GpsImu()}
+    )
+
+
+def test_add_sensor__other():
+    actual = SceneBuilder.empty().add_sensor("SOMETHING_ELSE")
+    assert actual.result == Scene(
+        metadata=Metadata(schema_version="1.0.0"), sensors={"SOMETHING_ELSE": OtherSensor()}
+    )
+
+
 if __name__ == "__main__":
-    pytest.main([__file__, "-v"])
+    pytest.main([__file__, "-vv"])