Abstract: A system for determining a location of a feature of an object, the system including a first marker including a first area and a surface having two parallel edges and a third edge disposed perpendicularly to the two parallel edges, the two parallel edges are disposed about a first central axis of the two parallel edges; and a sensor configured to provide a distance from the sensor to a portion of the first marker, wherein the sensor is adapted to obtain distances between the sensor and the first marker and an environment surrounding the first marker to form a first map representing the distances corresponding to locations from which the distances are obtained using the sensor and the location of the feature of the object is determined based on at least one corner corresponding to an intersection formed of the third edge and one of the two parallel edges.