1. A method for tracking the position and orientation of an object, comprising the steps of: (a) scanning across an object to detect fiducials, wherein a video run is formed by a scan; (b) clumping video runs to detect a pattern of fiducials; (c) acquiring estimated values for a set of tracking parameters by comparing a detected pattern of fiducials to a reference pattern of fiducials; and (d) iterating the estimated values for the set of tracking parameters until the detected pattern of fiducials match the reference pattern of fiducials to within a desired convergence.