Techniques are generally described for object detection in image data. First image data comprising a three-dimensional model representing an object may be received. First background image data comprising a first plurality of pixel values may be received. A first feature vector representing the three-dimensional model may be generated. A second feature vector representing the first plurality of pixel values of the first background image data may be generated. A first machine learning model may generate a transformed representation of the three-dimensional model using the first feature vector. First foreground image data comprising a two-dimensional representation of the transformed representation of the three-dimensional model may be generated. A frame of composite image data may be generated by combining the first foreground image data with the first background image data.