The pose of an object may be estimated based on fiducial points identified in a visual representation of the object. Each fiducial point may correspond with a component of the object, and may be associated with a first location in an image of the object and a second location in a 3D coordinate pace. A 3D skeleton of the object may be determined by connecting the locations in the 3D space, and the object's pose may be determined based on the 3D skeleton.