Markers may be presented on different objects in a facility, such as shelves or totes. A marker can use color, placement of elements, blending effects, or infrared light layers to encode data about the object. During operation, a camera within the facility may acquire an image, which includes an image of the marker as presented on the object. The marker can be analyzed to detect marker data encoded therein. By decoding the marker data, details about the marker can be extracted, such as an identification of the object. In addition, using details about the marker location within the image and location data associated with the camera, a location of the object relative to the camera can be determined, as well as an orientation of the object relative to the camera. As the object moves within the facility, the object can be tracked based on this location and orientation data.