A method for estimating a pose of an oral hygiene device (110; 210) relative to a location, the oral hygiene device (110; 210) including a pattern (122, 230) and a plurality of groups of visual markers (124, 241-243), the method comprising: a) receiving image data reproducible as an image of at least a portion of the oral hygiene device (110; 210); b) analyzing, using one or more processors, the image data to identify a region of interest within the image, the region of interest including at least a portion of the pattern (122, 230) therein; c) responsive to identifying the region of interest, segmenting, using at least one of the one or more processors, the region of interest into a plurality of sub-regions, each of the plurality of sub-regions being defined by a plurality of pixels having a common color; d) identifying, using at least one of the one or more processors, all candidate visual markers from the plurality of groups of visual markers (124, 241-243) within the region of interest, wherein candidate visual markers correspond to the sub-regions of the region of interest; e) creating a plurality of distinct sets of the candidate visual markers; f) selecting a first one of the plurality of distinct sets of the candidate visual markers; g) selecting a first one of a plurality of distinct sets of model markers associated with a three-dimensional model of the oral hygiene device (110, 210); h) evaluating the selected set of the candidate visual markers and the selected set of model markers using a perspective-three-point algorithm to obtain a proposed three-dimensional pose of the oral hygiene device (110, 210); i) based on the proposed three-dimensional pose of the oral hygiene device (110, 210), predicting a position within the region of interest for a predetermined number of the candidate visual markers; j) comparing the predicted positions for the predetermined number of the candidate visual markers with actual positions of all of the candidate visual markers within the region of interest; k) responsive to a determination that at least a substantial portion of the predicted positions correspond with the actual positions, validating the proposed three-dimensional pose; and l) responsive to a determination that less than the substantial portion of the predicted positions correspond with the actual positions, repeating steps f) - k). a) receiving image data reproducible as an image of at least a portion of the oral hygiene device (110; 210); b) analyzing, using one or more processors, the image data to identify a region of interest within the image, the region of interest including at least a portion of the pattern (122, 230) therein; c) responsive to identifying the region of interest, segmenting, using at least one of the one or more processors, the region of interest into a plurality of sub-regions, each of the plurality of sub-regions being defined by a plurality of pixels having a common color; d) identifying, using at least one of the one or more processors, all candidate visual markers from the plurality of groups of visual markers (124, 241-243) within the region of interest, wherein candidate visual markers correspond to the sub-regions of the region of interest; e) creating a plurality of distinct sets of the candidate visual markers; f) selecting a first one of the plurality of distinct sets of the candidate visual markers; g) selecting a first one of a plurality of distinct sets of model markers associated with a three-dimensional model of the oral hygiene device (110, 210); h) evaluating the selected set of the candidate visual markers and the selected set of model markers using a perspective-three-point algorithm to obtain a proposed three-dimensional pose of the oral hygiene device (110, 210); i) based on the proposed three-dimensional pose of the oral hygiene device (110, 210), predicting a position within the region of interest for a predetermined number of the candidate visual markers; j) comparing the predicted positions for the predetermined number of the candidate visual markers with actual positions of all of the candidate visual markers within the region of interest; k) responsive to a determination that at least a substantial portion of the predicted positions correspond with the actual positions, validating the proposed three-dimensional pose; and l) responsive to a determination that less than the substantial portion of the predicted positions correspond with the actual positions, repeating steps f) - k).