In implementations of systems for augmented reality authoring of remote environments, a computing device implements an augmented reality authoring system to display a three-dimensional representation of a remote physical environment on a display device based on orientations of an image capture device. The three-dimensional representation of the remote physical environment is generated from a three-dimensional mesh representing a geometry of the remote physical environment and digital video frames depicting portions of the remote physical environment. The augmented reality authoring system receives input data describing a request to display a digital video frame of the digital video frames. A particular digital video frame of the digital video frames is determined based on an orientation of the image capture device relative to the three-dimensional mesh. The augmented reality authoring system displays the particular digital video frame on the display device.