IR-reflecting markers can be attached to the DLR 3D-Modeler in order to provide contact-free pose tracking without the need of a robotic manipulator or an external positioning system like the FaroArm. We predominantly used the ARTtrack2 system for optical pose tracking. That system does, however, severely constrain the DLR 3D-Modeler in terms of size, potential mobility, and cost. For this reason, we opted for a novel implementation of passive pose tracking using the high-rate images of the stereo camera. The system is now called self-referenced DLR 3D-Modeler and is featured in the following video.