This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support image processing. In a first aspect, a method includes receiving images of a vehicle and determining locations of key points of the vehicle within the keyframes. Pose estimations may then be determined based on the key point locations, and a three-dimensional contour of the vehicle may be determined based on the pose estimations. A model may then be trained based on the three-dimensional contour of the vehicle. Other aspects and features are also claimed and described.