A computer-implemented method for optimizing a tracker system comprising the steps of: - acquiring mesh data representing possible active marker positions and orientations on a tracked object, pose data representing possible poses of the tracked object under working conditions, and at least one camera position and orientation, - computing visibility of each node on the mesh representing the possible active marker positions from at least one camera viewport for every pose of the pose data and generate a visibility value list representing every node, comprising visibility values counting how many times a node is visible where visibility from any camera per pose is counted once, - selecting a previously unselected node with highest visibility count as an active marker placement node, - removing nodes which are closer to the selected node than a non-maxima suppression threshold, - removing poses having at least a predetermined number of selected nodes, - testing if a predetermined percentage of all poses have the predetermined number of selected nodes, - if the test is negative, repeating the steps of computing, selecting, removing nodes, removing poses and testing, - projecting the final selected node positions on the image plane of each camera viewport for each pose, and calculating the pose of the mesh with respect to camera viewports using a tracker algorithm for which the system will be optimized, - calculating pose error and pose coverage, which is the percentage of poses that can be estimated with the tracker algorithm, by comparing tracker algorithm results with the ground truth data, - recording and outputting pose accuracy and coverage results together with a number and positions of active marker placement nodes, - testing if a new optimization parameter set, pose estimation parameter set, camera location set or 3D object mesh exists, - if the test is positive starting over the method with such new data from the step of acquiring mesh data, - selecting among the results a camera location set, 3D mesh data, a marker tree comprising the 3D coordinates of the selected nodes, an optimization parameter set and a pose estimation algorithm parameter set, satisfying at least one constraint being one of the following, choosing a parameter set with the minimum pose error, a system with minimum hidden poses or a system with the minimum marker number, wherein hidden poses are poses that the pose estimation algorithm is unable to compute. - acquiring mesh data representing possible active marker positions and orientations on a tracked object, pose data representing possible poses of the tracked object under working conditions, and at least one camera position and orientation, - computing visibility of each node on the mesh representing the possible active marker positions from at least one camera viewport for every pose of the pose data and generate a visibility value list representing every node, comprising visibility values counting how many times a node is visible where visibility from any camera per pose is counted once, - selecting a previously unselected node with highest visibility count as an active marker placement node, - removing nodes which are closer to the selected node than a non-maxima suppression threshold, - removing poses having at least a predetermined number of selected nodes, - testing if a predetermined percentage of all poses have the predetermined number of selected nodes, - if the test is negative, repeating the steps of computing, selecting, removing nodes, removing poses and testing, - projecting the final selected node positions on the image plane of each camera viewport for each pose, and calculating the pose of the mesh with respect to camera viewports using a tracker algorithm for which the system will be optimized, - calculating pose error and pose coverage, which is the percentage of poses that can be estimated with the tracker algorithm, by comparing tracker algorithm results with the ground truth data, - recording and outputting pose accuracy and coverage results together with a number and positions of active marker placement nodes, - testing if a new optimization parameter set, pose estimation parameter set, camera location set or 3D object mesh exists, - if the test is positive starting over the method with such new data from the step of acquiring mesh data, - selecting among the results a camera location set, 3D mesh data, a marker tree comprising the 3D coordinates of the selected nodes, an optimization parameter set and a pose estimation algorithm parameter set, satisfying at least one constraint being one of the following, choosing a parameter set with the minimum pose error, a system with minimum hidden poses or a system with the minimum marker number, wherein hidden poses are poses that the pose estimation algorithm is unable to compute.