A navigation system, comprising: an ultrasound device configured to obtain an ultrasound image in a scan plane having a target disposed therein, the ultrasound device having a fiducial pattern disposed thereon, the fiducial pattern including a plurality of circles of a first color disposed in at least one region and a plurality of circles of a second color; a surgical device having an image capture device configured to capture a fiducial image of the fiducial pattern; a controller configured to receive the ultrasound image and the fiducial image, identify the plurality of circles of the first color and the plurality of circles of the second color, wherein identifying includes applying a first threshold to the fiducial image to obtain a first thresholded image, applying a second threshold to an inverted fiducial image to obtain a second thresholded image, performing a connected component analysis on each of the first and second thresholded images, and applying a geometric filter to results of the connected component analysis to identify the at least one region having the plurality of circles of the first color and to determine weighted centroids of the plurality of circles of the first color and the plurality of circles of the second color, wherein the controller is configured to determine a position of the surgical device in relation to the scan plane based on the identified circles and region of the fiducial image; and a display configured to display the ultrasound image and a virtual image of the surgical device based on the position of the surgical device in relation to the scan plane. an ultrasound device configured to obtain an ultrasound image in a scan plane having a target disposed therein, the ultrasound device having a fiducial pattern disposed thereon, the fiducial pattern including a plurality of circles of a first color disposed in at least one region and a plurality of circles of a second color; a surgical device having an image capture device configured to capture a fiducial image of the fiducial pattern; a controller configured to receive the ultrasound image and the fiducial image, identify the plurality of circles of the first color and the plurality of circles of the second color, wherein identifying includes applying a first threshold to the fiducial image to obtain a first thresholded image, applying a second threshold to an inverted fiducial image to obtain a second thresholded image, performing a connected component analysis on each of the first and second thresholded images, and applying a geometric filter to results of the connected component analysis to identify the at least one region having the plurality of circles of the first color and to determine weighted centroids of the plurality of circles of the first color and the plurality of circles of the second color, applying a first threshold to the fiducial image to obtain a first thresholded image, applying a second threshold to an inverted fiducial image to obtain a second thresholded image, performing a connected component analysis on each of the first and second thresholded images, and applying a geometric filter to results of the connected component analysis to identify the at least one region having the plurality of circles of the first color and to determine weighted centroids of the plurality of circles of the first color and the plurality of circles of the second color, wherein the controller is configured to determine a position of the surgical device in relation to the scan plane based on the identified circles and region of the fiducial image; and a display configured to display the ultrasound image and a virtual image of the surgical device based on the position of the surgical device in relation to the scan plane.