A system and a method of position and orientation determination use an image capturing device and position and orientation sensors in user equipment such as a head mounted device "HMD". The method may comprise receiving position measurements from the position sensor and receiving a selection of one or more anchors based on said position measurements including the position of each anchor. The position and orientation measurements may be used to determine whether any selected anchor is visible to said image capturing device based on said position and orientation measurements. Then the image capturing device may be activated to capture an image including said one or more anchors when a selected anchor is visible. The image may be analyzed to determine the position and orientation of the image capturing device relative to the one or more anchors.
