1. A fiducial tracking system, comprising: a first device having a fiducial pattern disposed thereon, the fiducial pattern including a plurality of first unique identifiers disposed in a region and a plurality of second unique identifiers; a second device having an image capture device disposed thereon, the image capture device configured to obtain a fiducial image of the fiducial pattern; and a controller configured to: receive the fiducial image, find correspondence between the fiducial image and a model image, estimate a camera pose, transform a position of the second device to model coordinates, find the plurality of first unique identifiers and the plurality of second unique identifiers, wherein finding includes: applying a first threshold to the fiducial image and a second threshold to an inverted fiducial image, performing a connected component analysis on the first and second thresholds, and applying a geometric filter to identify the region having the plurality of first unique identifiers and to determine weighted centroids of the plurality of first unique identifiers and the plurality of second unique identifiers.