Objects in 3D space: color contrast against background

Is there a tool to help me pick proper colors for:

  1. Objects
  2. Background

in 3D space. Colors should have proper contrast.

UPDATE

A sample of my options for background color is:

Background color: #c8c8c8c , object color: #576675

background color = #c8c8c8

Background color: #888888 , object color: #576675

background color = #888888

Background color: #444444 , object color #576675

background color: #444444

UPDATE

Any reference to research on this topic might help.