A tangible medium having a machine-readable symbol printed thereon, such that the symbol encodes a specified digital value in a set of color elements having different, respective colors, to be identified in an image of the symbol as red, green, blue, cyan, magenta and yellow color elements, respectively. The symbol is produced by applying cyan, magenta and yellow pigments to a substrate so as to produce the color elements, such that the color elements exhibit certain red, green, and blue intensity characteristics when measured in an sRGB color space.