Optical tracking system and tracking method using the same

A tracking method comprising:

• by at least one light source included in at least one marker of an optical tracking system, irradiating light to at least one pattern portion included in the at least one marker, the at least one pattern portion formed by a plurality of patterns and arranged to receive the light irradiated by the at least one light source, the received light passing the at least one pattern portion or being reflected by the at least one pattern portion;
• by a first lens included in the at least one marker, the first lens arranged to receive the light, which has passed the at least one pattern portion or has been reflected by the at least one pattern portion, releasing a plurality of portions of the light, each released portion of the light having passed a specific point of the at least one pattern portion;
• by a second lens included in at least one camera of the optical tracking system, receiving and focusing the light released from the first lens;
• by an image sensor included in the at least one camera, forming an image of the at least one pattern portion based on the focused light;
• and
• by a processor of the optical tracking system, calculating a spatial position and a direction of the at least one marker by using the image of the at least one pattern portion.