A system and method are provided for driving assistance. The system includes an image capture device configured to capture an actual image relative to an outward view from a motor vehicle and depicting an object. The system further includes a processor configured to render, based on a set of 3D CAD models, synthetic images with corresponding intermediate shape concept labels. The processor is further configured to form a multi-layer CNN which jointly models multiple intermediate shape concepts, based on the rendered synthetic images. The processor is also configured to perform an intra-class appearance variation-aware and occlusion-aware 3D object parsing on the actual image by applying the CNN to the actual image to output an image pair including a 2D and 3D geometric structure of the object. The processor is additionally configured to perform an action to mitigate a likelihood of harm involving the motor vehicle, based on the image pair.