An optical tracker is provided herein. The tracker may include at least two optical tracker sensors, facing at least partially each other. Each optical tracker sensor may include: a pixel array sensor configured to generate a pixel-by-pixel stream of values representing a scene; at least one visual indicator physically coupled to said pixel array sensor; and an integrated circuit (IC) physically coupled to said at least one pixel array sensor, and configured to: receive said pixel-by-pixel stream of values; and apply a binary large object (BLOB) analysis to said stream, to yield BLOB parameters indicative of the at least one visual indicator present in the scene in a single pass of the pixels representing the scene; and a computer processor configured to receive said BLOB parameters and calculate a relative position and/or orientation, or a partial data thereof, of the at least two optical tracker sensors.