A computing system, comprising: one or more image sensors; one or more processors; and one or more non-transitory, computer-readable media that store instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising: obtaining display data for a virtual element to be displayed by the computing system in association with imagery from the one or more image sensors, the imagery depicting an environment including a physical object; obtaining geometric data including an estimated geometry of the physical object; generating, based at least in part on the estimated geometry of the physical object, a set of graphics occlusion parameters associated with rendering the imagery and the display data, wherein the set of graphics occlusion parameters define blending of the display data for the virtual element and the imagery at a soft-occlusion region that includes one or more locations within the estimated geometry associated with the physical object, wherein generating the set of graphics occlusion parameters comprises: determining a reduced geometry for the physical object based on the estimated geometry, wherein the reduced geometry has a reduced outer dimension relatively to the estimated geometry; and identifying at least one edge of the physical object based on the reduced geometry, the at least one edge adjacent to a plurality of faces of the physical object as derived from the reduced geometry, wherein the soft-occlusion region is defined to extend from the at least one edge outward from the physical object; and rendering a composite image from the display data for the virtual element and the imagery based at least in part on the set of graphics occlusion parameters. one or more image sensors; one or more processors; and one or more non-transitory, computer-readable media that store instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising: obtaining display data for a virtual element to be displayed by the computing system in association with imagery from the one or more image sensors, the imagery depicting an environment including a physical object; obtaining geometric data including an estimated geometry of the physical object; generating, based at least in part on the estimated geometry of the physical object, a set of graphics occlusion parameters associated with rendering the imagery and the display data, wherein the set of graphics occlusion parameters define blending of the display data for the virtual element and the imagery at a soft-occlusion region that includes one or more locations within the estimated geometry associated with the physical object, wherein generating the set of graphics occlusion parameters comprises: determining a reduced geometry for the physical object based on the estimated geometry, wherein the reduced geometry has a reduced outer dimension relatively to the estimated geometry; and identifying at least one edge of the physical object based on the reduced geometry, the at least one edge adjacent to a plurality of faces of the physical object as derived from the reduced geometry, wherein the soft-occlusion region is defined to extend from the at least one edge outward from the physical object; and rendering a composite image from the display data for the virtual element and the imagery based at least in part on the set of graphics occlusion parameters. obtaining display data for a virtual element to be displayed by the computing system in association with imagery from the one or more image sensors, the imagery depicting an environment including a physical object; obtaining geometric data including an estimated geometry of the physical object; generating, based at least in part on the estimated geometry of the physical object, a set of graphics occlusion parameters associated with rendering the imagery and the display data, wherein the set of graphics occlusion parameters define blending of the display data for the virtual element and the imagery at a soft-occlusion region that includes one or more locations within the estimated geometry associated with the physical object, wherein generating the set of graphics occlusion parameters comprises: determining a reduced geometry for the physical object based on the estimated geometry, wherein the reduced geometry has a reduced outer dimension relatively to the estimated geometry; and identifying at least one edge of the physical object based on the reduced geometry, the at least one edge adjacent to a plurality of faces of the physical object as derived from the reduced geometry, wherein the soft-occlusion region is defined to extend from the at least one edge outward from the physical object; and rendering a composite image from the display data for the virtual element and the imagery based at least in part on the set of graphics occlusion parameters. determining a reduced geometry for the physical object based on the estimated geometry, wherein the reduced geometry has a reduced outer dimension relatively to the estimated geometry; and identifying at least one edge of the physical object based on the reduced geometry, the at least one edge adjacent to a plurality of faces of the physical object as derived from the reduced geometry, wherein the soft-occlusion region is defined to extend from the at least one edge outward from the physical object; and rendering a composite image from the display data for the virtual element and the imagery based at least in part on the set of graphics occlusion parameters.