A method of determining reference features for use in an optical object tracking initialization process, said method comprising the following steps: a) providing reference features adapted for use in an optical object tracking initialization process, said reference features extracted from a set of reference images, b) capturing at least one current image of a real environment or synthetically generating the at least one current image by rendering a virtual model of a real object to be tracked with at least one camera and extracting current features from the at least one current image, c) matching a plurality of the current features with a plurality of the reference features, d) determining for each of the reference features which were matched with one of the current features whether they were correctly or incorrectly matched, and estimating at least one parameter associated with the current image, said parameter being indicative of a pose of a camera, based on a number of current and reference features which were correctly matched, e) wherein the steps b) to d) are processed iteratively multiple times, wherein in step b) of every respective iterative loop a respective new current image is captured by at least one camera and steps b) to d) are processed with respect to the respective new current image, and f) wherein the reference features are trained using a series of current images and wherein training the reference features comprises determining at least one indicator associated to reference features which were correctly matched and/or to reference features which were incorrectly matched, wherein the at least one indicator is determined depending on how often the respective reference feature has been correctly matched or incorrectly matched, respectively. a) providing reference features adapted for use in an optical object tracking initialization process, said reference features extracted from a set of reference images, b) capturing at least one current image of a real environment or synthetically generating the at least one current image by rendering a virtual model of a real object to be tracked with at least one camera and extracting current features from the at least one current image, c) matching a plurality of the current features with a plurality of the reference features, d) determining for each of the reference features which were matched with one of the current features whether they were correctly or incorrectly matched, and estimating at least one parameter associated with the current image, said parameter being indicative of a pose of a camera, based on a number of current and reference features which were correctly matched, e) wherein the steps b) to d) are processed iteratively multiple times, wherein in step b) of every respective iterative loop a respective new current image is captured by at least one camera and steps b) to d) are processed with respect to the respective new current image, and f) wherein the reference features are trained using a series of current images and wherein training the reference features comprises determining at least one indicator associated to reference features which were correctly matched and/or to reference features which were incorrectly matched, wherein the at least one indicator is determined depending on how often the respective reference feature has been correctly matched or incorrectly matched, respectively.