1. A computer-implemented method comprising: receiving first visual information for an object including information for a plurality of visual markers associated with the object, wherein the object comprises at least a first feature and a second feature, wherein each feature is associated with a visual marker from the plurality of visual markers, and wherein the object comprises at least one inertial sensor; receiving first position-related information corresponding to the object, the first position-related information being wirelessly transmitted from the at least one inertial sensor of the object; generating a first virtual pose for the object using the first position-related information transmitted wirelessly from the at least one inertial sensor of the object and the first visual information for the object, wherein the first virtual pose of the object comprises a first position of the first feature and a first position of the second feature in a virtual representation of the object; and wherein the first position of the first feature and the first position of the second feature are based on the first position-related information transmitted wirelessly from the at least one inertial sensor of the object and the first visual information for the object.