In collaboration with the Teoresi group company and Politecnico di Torino, the issues of 3D scene understanding were explored to perform an analysis of 3D perception features with the help of depth sensors. We started to study the already featured libraries regarding the use of depth sensors for real-world 3D learning. Otherwise, if these are not useful for our purpose, alternative solutions should be studied. We started studying the main libraries that already work with three-dimensional environments: Tensorflow 3D, Open3D, Mediapipe and Yolo. Initially, the various libraries were all tested with the Intel Realsense D435 depth camera directly connected to the machine.