A method for optimizing fiducial marker and camera positions/orientations is realized to simulate camera and fiducial positions and pose estimation algorithm to find best possible marker/camera placement comprises the steps of: acquiring mesh data representing possible camera positions and feasible orientation boundaries of cameras on the environment of tracked object; acquiring mesh data representing possible active marker positions and feasible orientation placements of markers on a tracked object; pose data representing possible poses of tracked object under working conditions; initializing the control parameter for camera placement; create initial solution strings for camera placement; solving marker placement problem for the current camera placement; evaluating the quality of the current LED and camera placement taking pose coverage, pose accuracy, number of placed markers, number of placed camera etc. into account; determining if a stopping criterion is satisfied.