A contact sensing device is provided. The sensing device comprises a housing having a nib and a position sensor mounted in the housing. The position sensor generates position data when the nib is positioned in contact with a surface having coded data disposed thereon, the coded data being indicative of a plurality of locations within the region and the position data being indicative of the position of the nib relative to the region. The position sensor comprises imaging optics, an image sensor, and a processor. The position sensor is configured to generate the position data by: (a) capturing, using the image sensor and via the imaging optics, an image of coded data in the vicinity of the nib; (b) determining, using the processor and from the image, data indicative of a rotation and a position of the region relative to the imaging optics; (c) determining, using the processor and from the data and a known relationship between the imaging optics and the nib, the position of the nib relative to the region; and (d) generating, using the processor and from the position of the nib, the position data.