6. The method of claim 5 , wherein the images that describe the object comprise the respective rendered images.
5. The method of claim 1 , wherein generating the set of rendered images of the respective 3D object data model comprises: determining a number of views based on canonical viewpoints associated with the given category of objects; and for respective views of the number of views, generating respective rendered images that correspond to the respective 3D object data model at the respective views.