Ideally, a high contrast color with sharp edges is going to be the easiest to track, and give you the most accurate results.
As for removal of tracking markers in post, that's going to partially depend on the software you're using, though the principle is software agnostic, track/mask markers, and either paint them out or garbage matte them so that they become part of the alpha channel when you pull your chroma key.
Here's an after effects tutorial:
https://www.youtube.com/watch?v=xj-7qmgTQDs
And a mocha tutorial:
https://www.youtube.com/watch?v=dfGQ7jYcCDQ
and a shake tutorial:
https://www.youtube.com/watch?v=ylHZOlOJFgI