1. A computer-implemented method comprising: obtaining visual information from a first image of an object, the object comprising at least a first feature and a second feature, each feature having a respective visual marker and a respective inertial sensor attached, the first feature being moveable with respect to the second feature; receiving first position-related information that corresponds to the first image and that is wirelessly transmitted from at least one of the inertial sensors attached to the first and second features of the object; generating an estimated pose of the object using the first position-related information; and generating a refined pose of the object using the estimated pose and the visual information, wherein the refined pose of the object comprises a position of the first feature and a position of the second feature in a virtual representation of the object and wherein generating the refined pose comprises using the estimated pose to provide at least one location to detect at least one of the visual markers.