1. A method for determining a pose of an object of interest at a run time, the method comprising: capturing a first image of a first structured light pattern projected onto a first local surface of the object of interest, the first structured light pattern including a plurality of lines of structured light; wherein the first local surface is a portion of a surface on the object of interest characterized by the absence of a discernible feature that, when captured in the first image, would otherwise provide sufficient information to determine a complete pose of the object of interest; determining a first run-time data set from the captured first image, wherein the first run-time data set corresponds to information determined from the first structured light pattern projected onto the first local surface and corresponds to surface contours of the first local surface determined from the plurality of lines of structured light of the first structured light pattern; comparing the determined first run-time data set and a corresponding first reference data set, the first reference data set corresponding to an ideal pose of the first local surface on an ideally posed reference object; and determining at least one first degree of constraint that defines a first partial pose of the first local surface, the at least one first degree of constraint based upon the comparison of the first run-time data set with the corresponding first reference data set.