1. A method, comprising: providing, within an environment, (i) a robotic device having a first fiducial marker on a base of the robotic device and (ii) a second fiducial marker on a fixed object disconnected from the base of the robotic device within the environment; referencing the second fiducial marker with the first fiducial marker to determine a pose of the second fiducial marker relative to the first fiducial marker; receiving, from a sensor, an image of the environment, wherein the image includes the second fiducial marker and excludes the robotic device and the first fiducial marker; determining, based on the image, a pose of the second fiducial marker relative to the sensor; determining a pose of the robotic device relative to the sensor based on the pose of the second fiducial marker relative to the first fiducial marker and based on the pose of the second fiducial marker relative to the sensor; determining, based on the pose of the robotic device relative to the sensor, respective positions of a plurality of trajectory points for the robotic device relative to the sensor; and providing for display of the image of the environment and an overlaid plurality of virtual trajectory points corresponding to the plurality of trajectory points, wherein the plurality of virtual trajectory points are positioned in the image based on the determined respective positions of the plurality of trajectory points for the robotic device relative to the sensor.