1. A computer-implemented method comprising: obtaining an image of an object in a scene; obtaining depth data of the scene; determining, based on the image, at least one hypothesis of a pose of the object, wherein each of the at least one hypothesis represents a hypothesized plane; determining, based on the depth data, an incidence plane hypothesized to be coplanar with the object; and, determining for the at least one hypothesis a relation between the hypothesized plane and the incidence plane, wherein the relation indicates a level of consistency, wherein said determining the relation between the hypothesized plane and the incidence plane is performed by a processor; wherein determining the relation comprises: determining a reference plane; determining a homography T between the incidence plane and the reference plane; determining a homography T between the hypothesized plane and the reference plane; determining a reference point; determining a first projection by applying T to the reference point; determining a second projection by applying T′ to the reference point; and, determining a difference between the first projection and the second projection, wherein the relation is determined based on the difference.