Wide-angle monocular tracking using markers

A computer readable medium comprising instructions that, when executed by an electronic processor, configure the electronic processor to perform a method of tracking an orientation of an object in a three-dimensional environment using image information acquired by a single camera by performing actions comprising:

• acquiring, from the single camera, a marker image, the marker image depicting a portion of a set of markers rigidly positioned with respect to the object;
• for a predetermined anchor subset of the set of markers, determining, by an electronic processor communicatively coupled to the single camera, a plurality of correspondences of a plurality of markers in the anchor subset of markers to subsets of images of markers depicted in the marker image;
• determining, by the electronic processor, for each of the plurality of correspondences, a respective orientation of the object;
• predicting, by the electronic processor, for each respective orientation of the object, a respective predicted position of a non-anchor marker, wherein a plurality of predicted positions of the non-anchor marker are determined;
• identifying, by the electronic processor, a closest match of the marker image to one of the plurality of predicted positions of the non-anchor marker;
• determining, by the electronic processor, an output orientation of the object corresponding to the closest match;
• and
• providing, by the electronic processor, the output orientation of the object.