The biggest failure mode I've seen in-the-wild is from QR codes being attached to non-flat surfaces, e.g. wrapped around a lamp post, or on a car panel with "cr

The biggest failure mode I've seen in-the-wild is from QR codes being attached to non-flat surfaces, e.g. wrapped around a lamp post, or on a car panel with "crease" in the bodywork (sorry, no specific examples on-hand) AI is getting pretty good at depth estimation, and some phones even ship with LIDAR, so I think it should be feasible to correct for these automatically. Especially if you can get pictures from multiple angles.