Are there objects in the solar system revolving around the sun that do not lie on the planetary plane? How would we know, except in the rare coincident that our paths intersect?

Yes, of course. One example rarely considered is the Oort Cloud, pictured below. The Oort cloud is thought to contain objects that occasionally become dislodged to become long-period comets. It surrounds us like a giant sphere, well beyond Neptune and any known planets.

oort-cloud-comets-kuiper-naoj-400x355

565x318_KuiperBelt_OortCloud

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