1. A non-transitory computer readable medium that stores instructions, the stored instructions including instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: identifying, from first image data, an object; determining whether one or more regions of the object are occluded; determining, based on the one or more occluded regions, whether the object is associated with a likelihood of recognition error that exceeds a threshold; in response to determining that the object is associated with the likelihood of recognition error that exceeds the threshold: synthesizing second image data for at least some of the one or more occluded regions of the object, wherein synthesizing the second image data includes using pixel values associated with the first image data to generate pixel values for at least some of the second image data corresponding to the one or more occluded regions; and performing recognition of the object using the synthesized second image data.