Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.