Tag survey using visual markers

An apparatus for surveying devices, the apparatus comprising:

• at least one memory;
• and
• at least one processor coupled to the at least one memory and configured to:
• obtain, from at least one camera sensor while the at least one camera sensor is traveling along a path, a plurality of images comprising a plurality of devices, wherein each image of the plurality of images is obtained from a respective position of the at least one camera sensor along the path, and wherein each device of the plurality of devices comprises a respective visual marker;
• detect visual markers of the plurality of devices in the plurality of images;
• determine an arrangement of the visual markers detected in the plurality of images;
• and
• pair, based on aligning the arrangement of the visual markers with a first map comprising a corresponding arrangement of a plurality of objects, a respective object of the plurality of objects to each device of the plurality of devices.