Methods and systems for generating a semantically augmented image are disclosed. An embedding is generated for each object label associated with a segmented input image. For each embedding associated with a respective object label, a similarity score is computed between the embedding associated with the object label and an embedding representing an object class in an object bank storing a plurality of object images. At least one object is selected, the selected object being associated with a respective object image in the object bank, the selected at least one object being from an identified object class that is identified as contextually relevant to at least one object label associated with the segmented input image, based at least on the similarity score. The selected object is added into the segmented input image to generate the augmented image.