The present disclosure describes methods, apparatuses, and non-transitory computer-readable mediums for estimating a three-dimensional (“3D”) pose of an object from a two-dimensional (“2D”) input image which contains the object. Particularly, certain aspects of the disclosure are concerned with 3D pose estimation of a symmetric or nearly-symmetric object. An image or a patch of an image includes the object. A classifier is used to determine whether a rotation angle of the object in the image or the patch of the image is within a first predetermined range. In response to a determination that the rotation angle is within the first predetermined range, a mirror image of the object is determined. Two-dimensional (2D) projections of a three-dimensional (3D) bounding box of the object are determined by applying a trained regressor to the mirror image of the object in the image or the patch of the image. The 3D pose of the object is estimated based on the 2D projections.