This article introduces a technique for region-based pose tracking of multiple objects. Our algorithm uses surface models of the objects to be tracked and at least one calibrated camera view, but does not require color, texture, or other additional properties of the objects. By optimizing a joint energy defined on the pose parameters of all objects, the proposed algorithm can explicitly handle occlusions between different objects. Tracking results in simulated as well as real world scenes demonstrate the effects of occlusion and how they are handled by the proposed method.