A method for configuring a system for recognizing a class of objects of variable morphology, comprising providing a machine learning system with an initial data set to recognize instances of objects of the class in a sequence of images of a target scene; providing a three-dimensional model specific to the class of objects, the morphology of which can be defined by a set of parameters; acquiring a sequence of images of the scene using a camera; recognizing image instances of objects of the class in the acquired image sequence; conforming the generic three-dimensional model to recognized image instances; storing variation ranges of the parameters resulting from the conformations of the generic model; synthesizing multiple three-dimensional objects from the generic model by varying the parameters in the stored variation ranges; and complementing the data set of the learning system with projections of the synthesized objects in the plane of the images.