A method implemented on a processing unit for optimizing fiducial marker positions and orientations comprising the following consecutive steps of: - acquiring mesh data representing possible light emitting diode "LED" marker positions and feasible orientation boundaries of LED markers on a tracked object, pose data representing possible poses of the tracked object under working conditions and at least one camera position and orientation, - initializing a control parameter defining the relative importance of local search with respect to global search, wherein a higher control parameter value corresponds to an increased global search character, - creating initial solution strings comprising a bit string to specify the presence of LED markers and a vector string to specify orientation of LED markers, - evaluating the quality as a cost of a current LED marker placement solution where a cost decrease corresponds to a solution quality increase, based on pose coverage, pose accuracy and a number of placed LED markers, - determining if a stopping criterion is satisfied wherein the stopping criterion consists of determining whether a desired pose error, a pose coverage or the number of LED markers used is within an acceptable range, - if the stopping criterion is satisfied then outputting the best marker placement solution with the lowest cost and terminating the method, - if the stopping criterion is not satisfied, then determining if the current solution has a smaller cost than a solution of the previous iteration of the method, if the current solution has a smaller cost than accepting the current solution for later iterations, - if the current solution does not have a smaller cost than the solution of the previous iteration, rolling back to the previous solution with some probability, which is a function of the cost of the current solution, the cost of the previous solution and the control parameter, - decreasing the control parameter, - and perturbing the current solution to create a new solution for evaluation in the evaluating step and repeating the method steps until the stopping criterion is satisfied, wherein perturbation of the solution can be modeled as a series of simple moves on the current solution, wherein a move is defined as a change in the LED marker placement solution. - acquiring mesh data representing possible light emitting diode "LED" marker positions and feasible orientation boundaries of LED markers on a tracked object, pose data representing possible poses of the tracked object under working conditions and at least one camera position and orientation, - initializing a control parameter defining the relative importance of local search with respect to global search, wherein a higher control parameter value corresponds to an increased global search character, - creating initial solution strings comprising a bit string to specify the presence of LED markers and a vector string to specify orientation of LED markers, - evaluating the quality as a cost of a current LED marker placement solution where a cost decrease corresponds to a solution quality increase, based on pose coverage, pose accuracy and a number of placed LED markers, - determining if a stopping criterion is satisfied wherein the stopping criterion consists of determining whether a desired pose error, a pose coverage or the number of LED markers used is within an acceptable range, - if the stopping criterion is satisfied then outputting the best marker placement solution with the lowest cost and terminating the method, - if the stopping criterion is not satisfied, then determining if the current solution has a smaller cost than a solution of the previous iteration of the method, if the current solution has a smaller cost than accepting the current solution for later iterations, - if the current solution does not have a smaller cost than the solution of the previous iteration, rolling back to the previous solution with some probability, which is a function of the cost of the current solution, the cost of the previous solution and the control parameter, - decreasing the control parameter, - and perturbing the current solution to create a new solution for evaluation in the evaluating step and repeating the method steps until the stopping criterion is satisfied, wherein perturbation of the solution can be modeled as a series of simple moves on the current solution, wherein a move is defined as a change in the LED marker placement solution.