1. A system for determining three-dimensional representations of at least one object from an input depth-based image, the system comprising: a processing circuit configured and arranged to render a plurality of depth-based images from proposed orientations for at least one object; assess orientations from the plurality of orientations as a function of the rendered depth-base images and input depth-based image; and select an orientation from the plurality of orientations as a function of the assessment of orientations from the plurality of orientations.