1. A computer implemented method comprising: identifying an object in an image; obtaining, from a database of predetermined object models, an object model for the object identified in the image, the object model comprising a plurality of three dimensional points from which a three dimensional surface may be computed; determining, using the image and the object model, an orientation and one or more occluded features of the object in the image; augmenting the object model to compensate for the one or more occluded features of the object in the image, wherein augmenting the object model comprises: augmenting an intensity value associated with at least one of the plurality of three dimensional points; and rotating the object model; and providing the augmented object model as output.