The invention relates to a method for determining a position of a marker in an Augmented Reality System. After detection of the marking points of a marker in a captured image, marker vectors are determined using the marking points of the marker, and the distance of the marker from a capturing unit is calculated using the determined marker vectors. The determined distance and marker vectors are used in order to establish a rotation matrix reproducing an orientation of the marker in relation to the capturing unit, wherein the simplification that all marking points of the marker are located at the same distance from the capturing unit is valid and the signs of the rotation matrix are derived from substantially parallel marker vectors.