A system for wireless power transfer includes a plurality of transfer elements, each transfer element of the plurality of transfer elements being configured as a transmitter for the wireless power transfer or a receiver for the wireless power transfer, a plurality of sensors, each sensor of the plurality of sensors being positioned relative to the plurality of transfer elements and configured to generate sensor data indicative of a field implementing the wireless power transfer, and a processor coupled to the plurality of sensors and configured to determine an estimate of a terminal variable level in a respective transfer element of the plurality of transfer elements based on the sensor data, and to determine whether a foreign object is affecting the wireless power transfer based on whether the estimated terminal variable level is different from another assessment of the terminal variable level by more than a threshold.