Effective multiple object detection with a small data set

Hello, I want to detect objects according to images from a database **filled by the user**, with a maximum amount of 6 images(for 6 different angles). This amount is not enough for building a classifier, but I still need to be able to detect the objects in different backgrounds, different light conditions etc, in real time. I also need to detect multiple objects in every frame and be able to find a relation between the detected objects (for example: Cup on Table). How can I perform this kind of detection when I only have a small data set that I can't control? How sould I apply it on the other objects without increasing the response time? And How could I recognize the relation between them? Thank you.