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This paper presents a passive-marker-based optical tracking system utilizing dual Kinect sensors and additional custom optical tracking components. To obtain sub-millimeter tracking accuracy, we introduce robust calibration of dual infrared sensors and point correspondence establishment in a stereo configuration. The 3D localization is subsequently accomplished using multiple back projection lines. The proposed system extends existing inexpensive consumer electronic devices, implements tracking algorithms, and shows the feasibility of applying the proposed low-cost system to surgical training for computer assisted surgeries.