This application describes a method of determining a position and orientation of an object having a plurality of fiducials attached thereto. The method includes the steps of forming images of the plurality of fiducials on a sensitive surface of a sensor and determining a 2D location of each of the images of the plurality of fiducials on the sensitive surface. Information comprising 3D positions of the plurality of fiducials in a coordinate system of the object is then retrieved and each of the 2D locations of the plurality of images is associated with the 3D position of the same fiducial. A position and orientation of the object with respect to the sensitive surface of the sensor is then determined based in part on the 2D locations of the images and the 3D positions of the fiducials.