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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