1. A fiducial tracking system, comprising: a first device having a fiducial pattern disposed thereon; 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, correct the fiducial image for lens distortion, find correspondence between the fiducial image and a model image, estimate a camera pose, and transform a position of the second device to model coordinates.