1. A computer-implemented method performed in a computerized system comprising a central processing unit, a touch-sensitive display device, a memory and a camera, the computer-implemented method comprising: a. using the touch-sensitive display device to detect a tactile event; b. using the camera to capture an image of an area proximal to the surface of the touch-sensitive display device, wherein the camera is a depth-imaging camera and wherein a signal from the camera comprises image information and depth information; c. using the touch-sensitive display device to determine a contact point of an object and the touch-sensitive display device, the contact point associated with the tactile event, wherein the touch-sensitive display device is separate and distinct from the camera; and d. responsive to the detection of the tactile event, using the central processing unit to determine information on a pose of the object based on the captured image and the determined contact point.