1. A method of registering image space and physical space in a computer aided surgical navigation system, comprising: acquiring image data to define the image space including a plurality of points having a sub-plurality of fiducial points; forming a template of a fiducial marker; comparing the template to the plurality of points; determining the sub-plurality of fiducial points from the plurality of points based on the comparing the template; identifying a plurality of fiducial markers in the physical space; matching a first subset of the fiducial points with a first subset of the fiducial markers; calculating a transformation of the image space to the physical space; and registering the image space to the physical space.