A method for detecting and labeling a target object in a 2D image includes receiving a plurality of 2D images from a visual sensor, manually marking points of the target object on each of the 2D images, generating from the 2D images a 3D world coordinate system of the environment surrounding the target object, mapping each of the marked points on the 2D images to the 3D world coordinate system using a simultaneous localization and mapping (SLAM) engine, automatically generating a 3D bounding box covering all the marked points mapped to the 3D world coordinate system, mapping the 3D bounding box to each of the 2D images, generating a label for the target object on each of the 2D images using a machine learning object detection model, and training the machine learning object detection model based on the generated label for the target object.