A system includes a welding device, one or more cameras, and a controller coupled to the one or more cameras. The welding device includes a first set of visual markers oriented in a first direction and a second set of visual markers oriented in a second direction. Each set of visual markers includes at least three visual markers. The one or more cameras are configured to observe the first set of visual markers when the first direction is directed toward the one or more cameras, and to observe the second set of visual markers when the second direction is directed toward the one or more cameras. The controller is configured to track a position and an orientation of the welding device based at least in part on detection of a threshold quantity of the first set of visual markers or the threshold quantity of the second set of visual markers.