The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located reference features. A method includes: capturing a first image of a tool that includes multiple features that define a first marker, where at least one of the features of the first marker includes an identification feature； determining a position for the first marker by processing the first image； determining an identification for the first marker by using the at least one identification feature by processing the first image； and determining a tool state for the tool by using the position and the identification of the first marker.
