The present disclosure relates to methods, devices, and systems for object recognition. For example, the systems, devices, and methods described herein may be used to recognize types, orientations and positions of objects, such as objects (e.g., planar industrial parts) in a bin picking industrial environment. In an aspect of the present disclosure, a system for object recognition may project first 3D point cloud surface data to a 2D representation data. The system may perform a matching operation to evaluate a 2D object pose of the 2D representation data and to match the 2D representation data to a 2D object template. After a match is identified, the system may project the 2D representation data to 3D space to obtain a coarse 3D object pose.