Abstract: A method in accordance with a particular embodiment of the present technology includes receiving, at data-processing hardware operably associated with a mobile robot, perception data corresponding to an object in an environment of the mobile robot. The method further includes generating, by the data-processing hardware and based at least partially on the perception data, a feature reference corresponding to a feature of the object. The method also includes generating, by the data-processing hardware, candidate object references based at least partially on different respective alignments between the feature reference and a model of the object. The method also includes selecting, by the data-processing hardware, one of the candidate object references based at least partially on a result of evaluating the candidate object references for accuracy. Finally, the method includes controlling, by the data-processing hardware, the mobile robot based at least partially on the selected candidate object reference.