A method for determining a current location of a target object (10, 52, 90) in a reference coordinate system when the target object (10, 52, 90) is equipped with at least three active target markers (P1-P3, 56a-c, 92a-c) arranged in a known pattern, comprising: defining a location of a camera with respect to the reference coordinate system; capturing an image while the camera is centered on the target object (10, 52, 90) and the active target markers (P1-P3, 56a-c, 92a-c) are not on; capturing one or more images while the camera is centered on the target object (10, 52, 90) and one or more of the active target markers (P1-P3, 56a-c, 92a-c) are on; processing the images to compute a difference image representing differences between the image captured while all of the active target markers (P1-P3, 56a-c, 92a-c) were not on and images captured while one or more of the active target markers (P1-P3, 56a-c, 92a-c) were on; computing respective average pixel coordinates for the differences in the difference image corresponding to respective active target markers (P1-P3, 56a-c, 92a-c); for respective active target markers (P1-P3, 56a-c, 92a-c), aiming a laser range finder and transmitting a laser beam in the direction defined by respective pan and tilt angles which are a function of at least pan and tilt angles at which the target object (10, 52, 90) was centered in an image field-of-view of the camera and differences between the respective average pixel coordinates and pixel coordinates of a center of the images; for respective active target markers (P1-P3, 56a-c, 92a-c), acquiring respective range, pan and tilt data subsequent to the transmission of a respective laser beam; computing coordinates of respective points corresponding to the active target markers (P1-P3, 56a-c, 92a-c) in the reference coordinate system based on the measured range, pan and tilt data; and comparing respective positions of the respective points whose coordinates were computed from measured data to respective positions of respective points arranged in the known pattern to determine a current position and orientation of the target object (10, 52, 90) defined in terms of the reference coordinate system. defining a location of a camera with respect to the reference coordinate system; capturing an image while the camera is centered on the target object (10, 52, 90) and the active target markers (P1-P3, 56a-c, 92a-c) are not on; capturing one or more images while the camera is centered on the target object (10, 52, 90) and one or more of the active target markers (P1-P3, 56a-c, 92a-c) are on; processing the images to compute a difference image representing differences between the image captured while all of the active target markers (P1-P3, 56a-c, 92a-c) were not on and images captured while one or more of the active target markers (P1-P3, 56a-c, 92a-c) were on; computing respective average pixel coordinates for the differences in the difference image corresponding to respective active target markers (P1-P3, 56a-c, 92a-c); for respective active target markers (P1-P3, 56a-c, 92a-c), aiming a laser range finder and transmitting a laser beam in the direction defined by respective pan and tilt angles which are a function of at least pan and tilt angles at which the target object (10, 52, 90) was centered in an image field-of-view of the camera and differences between the respective average pixel coordinates and pixel coordinates of a center of the images; for respective active target markers (P1-P3, 56a-c, 92a-c), acquiring respective range, pan and tilt data subsequent to the transmission of a respective laser beam; computing coordinates of respective points corresponding to the active target markers (P1-P3, 56a-c, 92a-c) in the reference coordinate system based on the measured range, pan and tilt data; and comparing respective positions of the respective points whose coordinates were computed from measured data to respective positions of respective points arranged in the known pattern to determine a current position and orientation of the target object (10, 52, 90) defined in terms of the reference coordinate system.