1. A vision system that determines 3D pose of an object comprising: a plurality of cameras in which a lens of at least one of the cameras is a non-perspective lens to acquire a non-perspective image, the cameras being respectively oriented with a discrete field of view so as to contemporaneously acquire a plurality of images the object, respectively, at a known position with respect to the field of view; a search process, operatively connected to the cameras, that searches for 2D feature points in at least some of the acquired images, including the non-perspective image; an association process that associates the 2D feature points with known 3D model points; and a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points.