Crack pinning by heterogeneities is a central toughening mechanism in the failure of brittle materials. So far, most analytical explorations of the crack front deformation arising from spatial variations of fracture properties have been restricted to weak toughness contrasts using first order approximation and to defects of small dimensions with respect to the sample size. In this work, we investigate the non-linear effects arising from larger toughness contrasts by extending the approximation to the second order, while taking into account the finite sample thickness. Our calculations predict the evolution of a planar crack lying on the mid-plane of a plate as a function of material parameters and loading conditions, especially in the case of a single infinitely elongated obstacle. Peeling experiments are presented which validate the approach and evidence that the second order term broadens its range of validity in terms of toughness contrast values. The work highlights the non-linear response of the crack front to strong defects and the central role played by the thickness of the specimen on the pinning process.