Visual tracking of peripheral devices

A method of performing localization of a handheld device with respect to a wearable device includes capturing, by a first imaging device mounted to the handheld device, a fiducial image containing a number of fiducials affixed to the wearable device and capturing, by a second imaging device mounted to the handheld device, a world image containing one or more features surrounding the handheld device. The method also includes obtaining, by a sensor mounted to the handheld device, handheld data indicative of movement of the handheld device, determining the number of fiducials contained in the fiducial image, and updating a position and an orientation of the handheld device using at least one of the fiducial image or the world image and the handheld data.