The kind of markers you use depends on the shot you are trying to pull off. Motion Stabilizing requires areas of detail so a simple darker colored square may not be as good as others that have more detail. Sometimes just using a couple of pieces of tape to form a + is all you need.
Camera tracking is an entirely different problem. If you have a panning move with the camera then you will not get depth information so things can get pretty tricky if you are trying to simulate things like a virtual set. Handheld walking, dolly shots, tracking shots, basically, any shot where the camera is moving more than a couple of inches require multi-plane areas with detail so you are not likely to achieve a good camera solve if you just have a bunch of markers on a flat green screen 6 feet behind your actor. You will need to put some boxes in the shot that can be tracked and make sure there is enough detail in those pieces of fixed geometry to get some good parallax and perspective data so the camera movement can be solved.
It would help us help you figure out the most efficient solution if you could provide a detailed description or even a storyboard of the shot you are trying to create. There is no one trick solves all problems solution available. Most of the time I do not use any markers on the green screen, I just put something in the shot that has a lot of detail that I can easily roto or mask out. Whatever you decide to do you need to make sure that you do not have tracking markers anywhere near any edges that are going to be hard to key. A tracking marker directly behind someone's beautiful head of wavy hair is going to give you a ton of problems. A tracking marker close to an edge that has a lot of green spill is also going to cause you a lot of problems. If you are doing a lot of camera movement then you are going to have to be very careful blocking the shot and setting up the tracking markers to prevent causing post-production problems that can easily spoil a shot completely by making it nearly impossible to pull a decent matte without a ton of hand work.