A method for determining a position of an object located within a particular environment, the method comprising: acquiring, from an image acquisition module, a set of images of at least three coded visual markers, each coded visual marker having a fixed location within the particular environment, and each image of the set of images associated with at least one respective different one coded visual marker of the at least three coded visual markers, the image acquisition module acquiring the set of images from a plurality of cameras mounted on the object, each camera of the plurality of cameras having an associated field of view such that the associated fields of views of the plurality of cameras are contiguous; extracting from the set of images a set of geometric features associated with each of the respective different one coded visual marker of the at least three coded visual markers; acquiring inertial sensor data associated with the object; determining the position of the object using the inertial sensor data in combination with the set of geometric features associated with each respective different one coded visual marker of the at least three coded visual markers; characterized by: predicting, by a prediction module, a position of one of the respective different one coded visual markers in a particular frame of the image associated with the one respective different one coded visual marker; and defining, by the prediction module, an area where the object may appear in a particular time interval, the area having a plurality of regions, each region having a plurality of points, and wherein all points in the defined area where the coded visual markers may appear are projected to the plurality of cameras; and using said regions to optimize and/or accelerate a detection of said coded visual markers. acquiring, from an image acquisition module, a set of images of at least three coded visual markers, each coded visual marker having a fixed location within the particular environment, and each image of the set of images associated with at least one respective different one coded visual marker of the at least three coded visual markers, the image acquisition module acquiring the set of images from a plurality of cameras mounted on the object, each camera of the plurality of cameras having an associated field of view such that the associated fields of views of the plurality of cameras are contiguous; extracting from the set of images a set of geometric features associated with each of the respective different one coded visual marker of the at least three coded visual markers; acquiring inertial sensor data associated with the object; determining the position of the object using the inertial sensor data in combination with the set of geometric features associated with each respective different one coded visual marker of the at least three coded visual markers; characterized by: predicting, by a prediction module, a position of one of the respective different one coded visual markers in a particular frame of the image associated with the one respective different one coded visual marker; and defining, by the prediction module, an area where the object may appear in a particular time interval, the area having a plurality of regions, each region having a plurality of points, and wherein all points in the defined area where the coded visual markers may appear are projected to the plurality of cameras; and using said regions to optimize and/or accelerate a detection of said coded visual markers. predicting, by a prediction module, a position of one of the respective different one coded visual markers in a particular frame of the image associated with the one respective different one coded visual marker; and defining, by the prediction module, an area where the object may appear in a particular time interval, the area having a plurality of regions, each region having a plurality of points, and wherein all points in the defined area where the coded visual markers may appear are projected to the plurality of cameras; and using said regions to optimize and/or accelerate a detection of said coded visual markers.