System and method to track pipes using tags based on high redundancy codes

A method, comprising:

• locating, from an image of an object, a tag on the object, the tag comprising one or more anchors indicative of an orientation of the tag, a calibration pattern comprising a plurality of elements, each of the plurality of elements representative of a color mapped to one or more values, and encoded information provided on the tag in one or more of the plurality of colors;
• transforming the tag according to the orientation indicated by the one or more anchors;
• determining a color palette to information mapping from the plurality of elements of the calibration pattern, the color palette to information indicative mapping the color of each element of the plurality of elements of the calibration pattern to the one or more values;
• and
• decoding the encoded information from the one or more of the plurality of colors based on the color palette to information mapping.