In this work, we present a non-rigid approach to jointly solve the tasks of 2D-3D pose estimation and 2D image segmentation. In general, most frameworks which couple both pose estimation and segmentation assume that one has the exact knowledge of the 3D object. However, in non-ideal conditions, this assumption may be violated if only a general class to which a given shape belongs to is given (e.g.,cars, boats, or planes). Thus, the key contribution in this work is to solve the 2D-3D pose estimation and 2D image segmentation for a general class of objects or deformations for which one may not be able to associate a skeleton model. Moreover, the resulting scheme can be viewed as an extension of the framework of previous work, in which we include the knowledge of multiple 3D models rather than assuming the exact knowledge of a single 3D shape prior via Principal Component Analysis (PCA). We provide experimental results that highlight the algorithm’s robustness to noise, clutter, occlusion, and shape recovery on several challenging pose estimation and segmentation scenarios.