DepthScene — 3D Point Cloud Perception with Synthetic Data

Overview

Sim-to-real point cloud perception pipeline using BlenderProc synthetic RGB-D data.

Architecture

• Synthetic data: BlenderProc
• Point cloud processing: Open3D (RANSAC ground removal + Euclidean clustering)
• Evaluation: SUN RGB-D benchmark
• Camera model: calibrated pinhole back-projection

Status

🚧 In Progress — synthetic data generation and clustering pipeline under development.

Metrics (target)

• 3D IoU, recall, per-frame latency