1. A method comprising: performing, by a system having a processor and a non-transitory storage computer-readable medium: receiving a given object; generating simulated views of the given object; obtaining matching statistics output from matching features of each simulated view of the simulated views of the given object to representations of objects stored in a database; obtaining non-matching statistics output from matching features of each reference image of a plurality of reference images that does not include the given object to the representations of objects; and building a probabilistic model, the probabilistic model comprising a conditional probability derived utilizing the matching statistics and non-matching statistics outputs of the matching the feature of the each simulated view of the simulated views of the given object to the representations of the objects and the matching the features of the each reference image of the plurality of reference images to the representations of the objects, wherein the probabilistic model is usable for detecting whether a particular object is present in received visual data.