1. A method of determining the position of an object relative to a reference frame from captured images of the object based on triangulation, the captured images being taken by at least two cameras having overlapping fields of view within said reference frame at least one of said cameras having an offset angle causing an extremity of the field of view thereof to extend beyond a boundary of said reference frame, said method comprising the steps of: capturing an image of the object using each said at least two cameras at at least one location within said reference frame; for each location: determining the position of the object within each image and for each image placing the determined position into a coordinate system corresponding to that of said reference frame; and processing the determined positions to determine at least one of the position of the object at each location and the offset angle of said at least one camera.