1. A method for generating a high resolution feature registration and motion tracking system with minimal computation wherein said method comprising the steps of: a) placing a plurality of fiducial markers on a surface of a breast, each of the markers having a characteristic according to a class of characteristics, the class having a plurality of subclasses wherein the markers in each subclass have a common characteristic, the subclasses each having a unique number of markers wherein the unique number of markers in one subclass is different than the number of markers in any other subclass; b) tracking the motion of the markers of a first subclass having the fewest number of markers on the surface from a first image to a second image; c) partitioning the surface based upon the first subclass of markers; d) tracking the motion of the markers of a second subclass with the next fewest number of markers within each partition; and e) partitioning the surface based upon the second subclass of markers.