1. One or more computer readable media comprising instructions configured, upon execution of the instruction by the computing device, to cause the computing device to: identify a surface constraint of a pose of a model of an object, the surface constraint based at least in part on a three-dimensional (3D) image of the object; identify an additional constraint of the pose of the model of the object, wherein the additional constraint is an angular constraint of the object or a contact constraint of the object; calculate a first solution and a second solution of a linear equation representing the pose of the model subject to at least the surface constraint and the additional constraint; identify a first error metric related to the first solution and a second error metric related to the second solution; and determine a pose of the model related to the first solution or the second solution based on a comparison of the first error metric and the second error metric.