1. A vision system that determines 3D pose of an object comprising: a plurality of cameras in which a lens of at least one of the cameras is a non-perspective lens to acquire a non-perspective image, the cameras being respectively oriented with a discrete field of view so as to contemporaneously acquire a plurality of images of the object, respectively, at a known position with respect to the field of view, the lens of the at least one of the cameras being mounted on the camera, and the camera including an image sensor and an onboard vision processor; a search process, operatively connected to the cameras, that searches for 2D feature points in at least some of the acquired images, including the non-perspective image; an association process that associates the 2D feature points with known 3D model points; and a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points.