Pose of an ultrasound transducer is recovered. In one approach, inertial measurement units are positioned on the ultrasound transducer. The measurements from the inertial measurement units are used with pose or measurements from another position sensor (e.g., x-ray, electromagnetic, or optical) to improve accuracy and/or provide pose information at a greater rate. In another approach, a curve, line, or other connected shape of light emitting diodes are incorporated into the transducer. Optical tracking, with a filter specific to the light emitting diodes, using the connected shape pattern is used to determine the pose.
