In an approach to comparing simulated environments for unmanned ground vehicle development and testing, a system includes stored program instructions, the stored program instructions configured to: receive a first simulation scene and a second simulation scene; calculate a first costmap for the first simulation scene and a second costmap for the second simulation scene; calculate a traversability ratio metric comparing the first costmap and the second costmap; calculate a blob size metric comparing the first costmap and the second costmap; calculate an L2 distance between a first plurality of histograms from the first costmap and a second plurality of histograms from the second costmap; and determine whether a first environment of the first simulation scene and a second environment of the second simulation scene are similar based on the traversability ratio metric, the blob size metric, and the L2 distance.