Exploring Flexible Road Reconstruction in Godot Simulator

Cyber-physical systems (CPS) combine cyber and physical components engineered to make decisions and interact within dynamic environments. Ensuring the safety of CPS is of great importance, requiring extensive testing across diverse and complex scenarios. To generate as many testing scenarios as possible, previous efforts have focused on describing scenarios using formal languages to generate scenes. In this paper, we introduce an alternative approach: reconstructing roads inside the open-source game engine, Godot. We have developed a pipeline that enables the reconstruction of testing roads directly from provided images of scenarios. These reconstructed roads can then be deployed within simulated environments to assess a CPS. We demonstrate our methods on real world images.