Positioning and Orientation of Parallel Manipulators

Hello! I am new to this field of parallel manipulator and would like to find the position and orientation (using Matlab) of a parallel manipulator, given a set of colored markers and stereo vision cameras. I would also like to learn about parallel manipulators like kinematics, control, optimization etc., as I dont have much idea about this. Can you please help me with positioning , orientation and also suggest good reference materials for the same?