Many tracking systems utilize collections of fiducial markers arranged in rigid configurations, called tracking probes, to determine the pose of objects within an environment. In this paper, we present a technique for designing tracking probes called the Viewpoints Algorithm. The algorithm is generally applicable to tracking systems that use at least three fiduciary marks to determine the pose of an object. The algorithm is used to create a integrated, head-mounted display tracking probe. The predicted accuracy of this probe was 0.032 ? 0.02 degrees in orientation and 0.09 ? 0.07 mm in position. The measured accuracy of the probe was 0.028 ? 0.01 degrees in orientation and 0.11 ? 0.01 mm in position. These results translate to a predicted, static positional overlay error of a virtual object presented at 1m of less than 0.5 mm. The algorithm is part of a larger framework for designing tracking probes based upon performance goals and environmental constraints.