Examples of techniques for augmented reality authoring using virtual reality are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes receiving, by a virtual reality processing system, a depth map from an augmented reality processing system, wherein the depth map is a map of a scene. The method further includes authoring, using the virtual reality processing system, an augmented reality experience in a virtual reality environment based at least in part on the depth map. The method further includes transmitting, by the virtual reality processing system, the augmented reality experience to the augmented reality processing system.