Generating references for robot-carried objects and related technology

A method comprising:

• retrieving, by a mobile robot, an object from a starting location, wherein retrieving the object includes contacting the object and an end effector of the mobile robot;
• and
• generating, by data-processing hardware operably associated with the mobile robot, an object reference corresponding to a pose of the object at a time after retrieving the object and while the object is in contact with the end effector,
• wherein generating the object reference includes:
• receiving, at the data-processing hardware, perception data corresponding to the object at the time,
• determining, by the data-processing hardware and based at least partially on the perception data, a three-dimensional reference corresponding to a first feature of the object,
• determining, by the data-processing hardware and based at least partially on the perception data, a two-dimensional reference corresponding to a second feature of the object,
• determining, by the data-processing hardware and based at least partially on the three-dimensional reference corresponding to the first feature and the two-dimensional reference corresponding to the second feature, a three-dimensional reference corresponding to the second feature, and
• generating the object reference based at least partially on the three-dimensional reference corresponding to the second feature.