Various implementations disclosed herein include multi-scale visual markers that convey information in multiple sets of markings using different respective appearance attributes. In some implementations, the appearance attribute of the markings of a first set of markings corresponds to a first encoding parameter and the appearance attribute of markings of a second set of markings corresponds to a second encoding parameter different from the first encoding parameter. In some implementations, the first set of markings encode first data and the second set of markings are different than the first set of markings and encode second data. In some implementations, the different appearance attributes are different scales (e.g., different sizes, different numbers of markings per unit of space, different contrast, different color characteristics, different wavelengths, different image sensor types, etc.).