US Patent 11068627 Procedural world generation

Procedural generation of simulated environments is described herein. In an example, a computing device can access road network data associated with a real environment. Further, the computing device can generate, based on the sensor data, a road mesh associated with the real environment. The computing device can associate the road network data with the road mesh to generate a simulated environment and can procedurally render at least one object into the simulated environment based at least in part on at least one rule. The computing device can output the simulated environment for at least one of testing, validating, or training an algorithm used by an autonomous vehicle for at least one of navigating, planning, or decision making.