A method for controller tracking with multiple degrees of freedom includes generating depth data at an electronic device based on a local environment proximate the electronic device. A set of positional data is generated for at least one spatial feature associated with a controller based on a pose of the electronic device, as determined using the depth data, relative to the at least one spatial feature associated with the controller. A set of rotational data is received that represents three degrees-of-freedom (3DoF) orientation of the controller within the local environment, and a six degrees-of-freedom (6DoF) position of the controller within the local environment is tracked based on the set of positional data and the set of rotational data.