1. A method of pose estimation for a plurality of regions based on a multiple fiducial pattern having a grid of main fiducials, the method comprising: calculating a plurality of parameters, using a processor for one or more 5D poses of each region to generate a plurality of 5D poses by calculating a pose normal for each 5D pose; and calculating a pose center for each 5D pose; grouping the 5D poses into one or more planar groups by creating a set of planar groups wherein each planar group has a plane normal and a plane point; and assigning each 5D pose to a planar group based on the pose normal, the plane normal, the pose center and the plane point; selecting the planar group with the most members as the plane of the multiple fiducial pattern and adding a new planar group to the set of planar groups when a current 5D pose does not fit any planar group of the set of planar groups.