A method includes obtaining images of a scene captured using a stereo pair of imaging sensors of an XR device and depth data associated with the images, where the scene includes multiple objects. The method also includes obtaining volume-based 3D models of the objects. The method further includes, for one or more first objects, performing depth-based reprojection of the one or more 3D models of the one or more first objects to left and right virtual views based on one or more depths of the one or more first objects. The method also includes, for one or more second objects, performing constant-depth reprojection of the one or more 3D models of the one or more second objects to the left and right virtual views based on a specified depth. In addition, the method includes rendering the left and right virtual views for presentation by the XR device.