A method for training a machine learning model to recognize an object topology of an object from an image of the object. The method includes: obtaining a 3D model of the object; determining a descriptor component value for each vertex of the grid; generating training data image pairs each having a training input image and a target image. The target image is generated by determining the vertex positions in the training input image; assigning the descriptor component value determined for the vertex at the vertex position to the position in the target image; and adapting at least some of the descriptor component values assigned to the positions in the target image or adding descriptor component values to the positions of the target image.