Android : How to match 3D model to 2D Image

I have a 3D model(which can be a .obj format) and an image. I want to develop an app for matching a 3D model and an image that comes from the camera in an Android device.

I have done a lot of research and I have not found a good way of developing it. I have found some articles which still in the state of art but they do not provide a clear result. Also, I know the development of the app will probably involve a lot of maths (which is not a problem).

I was thinking to develop some code in Java using OpenGL to project the 3D models to 2D and then compare it with the images, but I have not found a good resource to do it either. Although I have a good experience with programming I do not have much experience with computer graphics. Thus, any resource, help or advice on how doing it would be great!

Thank you.