Abstract Automatic object viewpoint estimation from a single image is an important but challenging problem in machine intelligence community. Although impressive performance has been achieved, current state-of-the-art methods still have dif?culty to deal with the visual ambiguity and structure ambiguity in real world images. To tackle these problems, a novel Appearance-and-Structure Fusion network, which we call it ASFnet that estimates viewpoint by fusing both appearance and structure information, is proposed in this paper. The structure information is encoded by precise semantic keypoints and can help address the visual ambiguity. Meanwhile, distinguishable appearance features contribute to overcoming the structure ambiguity. Our ASFnet integrates an appearance path and a structure path to an end-to-end network and allows deep features effectively share supervision from both the two complementary aspects. A convolutional layer is learned to fuse the two path results adaptively. To balance the in?uence from the two supervision sources, a piecewise loss weight strategy is employed during training. Experimentally, our proposed network outperforms state-of-the-art methods on a public PASCAL 3D+ dataset, which veri?es the effectiveness of our method and further corroborates the above proposition.