Abstract: A method for estimating a pose of an oral hygiene device including a pattern and a plurality of groups of visual markers relative to a location includes (i) receiving image data reproducible as an image of at least a portion of the oral hygiene device; (ii) analyzing the image data to identify a region of interest within the image; (iii) identifying, using at least one of the one or more processors, all candidate visual markers within the region of interest; (iv) obtaining a first proposed three-dimensional pose of the oral hygiene device; (v) validating the first proposed three-dimensional pose of the oral hygiene device; and (vi) obtaining a second proposed three-dimensional pose of the oral hygiene device based on the validated first proposed three-dimensional pose.