Buildee:

A Blender-based simulation framework for Python

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Buildee is a 3D simulation framework designed to benchmark scene exploration, 3D reconstruction, and semantic segmentation tasks in both static and dynamic environments. Built as a Python module on top of Blender, Buildee leverages its advanced rendering capabilities to generate realistic RGB, depth, and semantic data while enabling 2D/3D point tracking and occlusion checking. Additionally, we provide a procedural generator for construction site environments and baseline methods for key computer vision tasks. Through Buildee, we establish a standardized platform for evaluating scene understanding algorithms in realistic settings.

Get started quickly

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With Buildee, you can start your simulation in just a few lines of code. The following example shows how to:

1. Load a Blender scene.
2. Render RGB image, depth map, and segmentation map.
3. Compute the current point cloud of the scene (dynamic points positions may change over time).
4. Step forward the simulation to the next frame.

from buildee import Simulator

sim = Simulator(
    blend_file='file.blend',
    points_density=10.0,
    verbose=True
)

rgb, depth, labels = sim.render()

pcl, pcl_labels, pcl_visibility_mask = sim.compute_point_cloud(imshow=True)

sim.step_frame()

Acknowledgements

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This project was funded by the European Union (ERC Advanced Grant explorer, Funding ID 101097259).

We would like to thank the creators of the following 3D models used in our procedural generator and animations:

• Acrow prop by omri1324
• Bulldozer by semyon.kan
• Cardboard boxes and wood palette by Minh Nguyen
• Cargo container by emanuelion
• Cement bag by kunal111
• Concrete mixer by gorzi
• Gameready truck by ForevereQ
• Generator by victorberdugo1
• Metal scaffolding by Mehdi Shahsavan
• Palette by Zuncho Multimedia
• Plastic barrel by BlackMike
• Rusty wheelbarrow by MrM0lten
• Sea cargo container by RienceCG
• Tower crane by Chamod1999
• Tree for games by Daniel Gryningstjerna
• Wooden planks by shtran

Citation

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If you use Buildee, please consider citing our paper.

@inproceedings{boittiaux2025buildee,
    title={Buildee: A 3D Simulation Framework for Scene Exploration and Reconstruction with Understanding},
    author={Cl\'ementin Boittiaux and Vincent Lepetit},
    booktitle={CVPR Workshop on Synthetic Data for Computer Vision},
    year={2025}
}