A method of detecting an object in a real scene using a computer includes specifying a 3D model corresponding to the object. The method further includes acquiring, from a capture camera, an image frame of a reference object captured from a first view angle. The method further includes generating a 2D synthetic image by rendering the 3D model in a second view angle that is different from the first view angle. The method further includes generating training data using (i) the image frame, (ii) the 2D synthetic image, (iii) the run-time camera parameter, and (iv) the capture camera parameter. The method further includes storing the generated training data in one or more memories.