1. A method for detecting an object in a high dimensional image space comprising: receiving a three dimensional image of an object; training, by a processor, a first classifier in the marginal space of the object center location which generates a predetermined number of candidate object center locations; training, by the processor, a second classifier to identify potential object center locations and orientations from the predetermined number of candidate object center locations and maintaining a subset of the candidate object center locations; training, by the processor, a third classifier to identify potential locations, orientations and scale of the object center from the subset of the candidate object center locations; and identifying a single candidate object pose for the object.