Abstract: The present disclosure provides an apparatus and method for training a machine learning engine configured to determine whether an object in a two dimensional (2D) image is in-scope or out-of-scope relative to the one or more 3D objects that includes receiving a 3D model of each of the one or more 3D objects, for each 3D model receiving a set of specifications and thresholds for the 3D model, augmenting the specifications of the 3D model to generate a plurality of augmented 3D models, and generating auxiliary training data based on the plurality of augmented 3D models, and utilizing the auxiliary training data to train the machine learning engine.