Abstract: It is recognized It is recognized herein that current approaches to robotic picking lack efficiency and capabilities. In particular, current approaches often do not properly or efficiently estimate the pose of bins, due to various technical challenges in doing so, which can impact grasp computations and overall performance of a given robot. The pose of the bin can be determined or estimated based on depth images. Such bin pose estimation can be performed during runtime of a given robot, such that grasping can be enhanced due to the bin pose estimations.