FILTERING REAL-WORLD OBJECTS FOR INCLUSION IN A SIMULATED ENVIRONMENT

The disclosed technology provides solutions for generating synthetic 3D environments, In some aspects, the disclosed technology includes a process of collecting sensor data corresponding with a three-dimensional (3D) space; identifying objects in the sensor data; filtering objects for inclusion in the synthetic map based on (1) a corresponding influence score for each of the one or more of the objects and (2) a corresponding duration of presence of each of the objects in the sensor data; selecting one or more of the objects based on the filtering, wherein the corresponding influence score of each of the one or more of the objects is greater than a first threshold and the corresponding duration of presence of each of the one or more of the objects is greater than a second threshold; and generating the synthetic map including a 3D rendering of the one or more of the objects selected.