1. A method for use with a system having a manipulated object, the method comprising: a) accepting light data indicative of light detected by a photodetector mounted on-board said manipulated object from a first plurality of predetermined light sources having known locations in world coordinates; b) accepting relative motion data from a relative motion sensor mounted on-board said manipulated object indicative of a change in an orientation of said manipulated object; and c), determining the pose of said manipulated object based on said light data and said relative motion data, wherein said pose is determined with respect to said world coordinates.