A system and method for performing object detection are presented. The system receives spatial structure information associated with an object which is or has been in a camera field of view of a spatial structure sensing camera. The spatial structure information is generated by the spatial structure sensing camera, and includes depth information for an environment in the camera field of view. The system determines a container pose based on the spatial structure information, wherein the container pose is for describing at least one of an orientation for the container or a depth value for at least a portion of the container. The system further determines an object pose based on the container pose, wherein the object pose is for describing at least one of an orientation for the object or a depth value for at least a portion of the object.