1. A method of determining a position and orientation of a device, wherein the position and orientation is determined based on multiple degrees of freedom and the device is associated with a capturing device for capturing at least one image, the method comprising the steps of: capturing at least one image of at least one real object or part of a real object with the capturing device, and providing a coordinate system in relation to the object; providing an estimation of intrinsic parameters of the capturing device; providing pose data allowing to compute at least one first degree of freedom in the coordinate system having a first confidence degree, and at least one second degree of freedom in the coordinate system having a second confidence degree different from the first confidence degree; determining an initial pose of the device with respect to the object based on the first and second degrees of freedom having the first and second confidence degree; performing a pose estimation process for determining an estimated position and orientation of the device with respect to the object, and calculating in the pose estimation process an estimation of the degrees of freedom having the second confidence degree based on the initial pose and the at least one image and the estimation of intrinsic parameters of the capturing device; and determining a position and orientation of the device with respect to the object based on the estimation of the degrees of freedom calculated in the pose estimation process and the degrees of freedom having the first confidence degree.