An embodiment of a system includes a marking tool configured to apply one or more markers on a first surface of a workpiece for a live welding session. The one or more markers have known geometric properties that may facilitate determination of the first surface and a weld joint. An embodiment of a method includes applying a first set of one or more markers to a first surface of a workpiece, detecting the applied first set of one or more markers with a camera, and determining, via processing circuitry coupled to the camera, at least one of the first surface of the workpiece and a weld joint based at least in part on the detected first set of one or more markers.