1. A processor-implemented method for generating 3-Dimensional (3D) object image variations, the method comprising: receiving, by a processor-based system, a 3D model of an object; synthesizing, by the processor-based system, a color and depth (RGB-D) image pair of the object based on the 3D model; rendering, by the processor-based system, a plurality of RGB-D image pair variations of the object based on the synthesized RGB-D image pair of the object, the rendering comprising at least one of, for each of the variations generating, by the processor, a background scene, adjusting, by the processor, an orientation and translation of the object, adjusting, by the processor, illumination of the object and of the background scene, and adjusting, by the processor, visual effects of the object and of the background scene based on application of simulated camera parameters; and generating, by the processor-based system, an object recognition classifier based on at least a first subset of the rendered RGB-D image pair variations.