With images taken at night, you can run the images through Astrometry.net, which is a blind astrometric solver and will provide you with RA / Dec for most images, as long as you have at least a dozen or two stars visible. The code compares asterisms formed by multiple stars to index files built from Gaia or other similar data. This is the technique that's used more frequently for microwave telescopes located where there's a normal diurnal cycle, e.g., CLASS. The smaller the field of the view, the higher the precision, but it also works fine with a camera with a zoom lens.
BICEP, however, is located at the South Pole on a moving ice sheet, requiring frequent updates to its pointing model, and has six months of continuous daylight, so daytime star pointing observations are required. This requires a different technique. Instead of looking at asterisms with multiple stars, the optical pointing telescope is pointed at a single star using an initial pointing model, the telescope pointing is adjusted until the star is centered, and the offset is recorded. This measurement process is repeated for the few dozen brightest stars, which acquires the data needed for refining the pointing model.