A method for marking a workpiece with a laser in producing a part, comprising the steps of: teaching a plurality of part vision models to a computer, each part vision model representing a different one of a plurality of fiducial features of the part and of the workpiece; storing on the computer the taught plurality of part vision models; capturing a new image of the workpiece that includes at least one of the plurality of fiducial features of the workpiece; generating, from the captured new image of the workpiece, a separate, individual workpiece vision model representing a respective one of the plurality of fiducial features of the workpiece included in the captured new image of the workpiece, with the computer; registering the generated separate, individual workpiece vision model representing the respective one of the plurality of fiducial features of the workpiece included in the captured new image of the workpiece, to the stored part vision model of the respectively associated fiducial feature, with the computer; repeating said steps of: capturing a new image of the workpiece, generating a separate, individual workpiece model, and registering the generated separate, individual workpiece vision model, for a different one of the plurality of fiducial features of the workpiece, for the remaining respective ones of the plurality of fiducial features of the workpiece; extracting a mathematical transformation including respective position and orientation relative to the associated workpiece vision models and part vision models, with the computer; passing the extracted mathematical transformation to a mark engine of the computer; and marking the workpiece using the laser. teaching a plurality of part vision models to a computer, each part vision model representing a different one of a plurality of fiducial features of the part and of the workpiece; storing on the computer the taught plurality of part vision models; capturing a new image of the workpiece that includes at least one of the plurality of fiducial features of the workpiece; generating, from the captured new image of the workpiece, a separate, individual workpiece vision model representing a respective one of the plurality of fiducial features of the workpiece included in the captured new image of the workpiece, with the computer; registering the generated separate, individual workpiece vision model representing the respective one of the plurality of fiducial features of the workpiece included in the captured new image of the workpiece, to the stored part vision model of the respectively associated fiducial feature, with the computer; repeating said steps of: capturing a new image of the workpiece, generating a separate, individual workpiece model, and registering the generated separate, individual workpiece vision model, for a different one of the plurality of fiducial features of the workpiece, for the remaining respective ones of the plurality of fiducial features of the workpiece; capturing a new image of the workpiece, generating a separate, individual workpiece model, and registering the generated separate, individual workpiece vision model, for a different one of the plurality of fiducial features of the workpiece, for the remaining respective ones of the plurality of fiducial features of the workpiece; extracting a mathematical transformation including respective position and orientation relative to the associated workpiece vision models and part vision models, with the computer; passing the extracted mathematical transformation to a mark engine of the computer; and marking the workpiece using the laser.