High-precision pose estimation based on visual markers has been a thriving research topic in the field of computer vision. However, the suitability of traditional flat markers on curved objects is limited due to the diverse shapes of curved surfaces, which hinders the development of high-precision pose estimation for curved objects. Therefore, this paper proposes a novel visual marker called CylinderTag, which is designed for developable curved surfaces such as cylindrical surfaces. CylinderTag is a cyclic marker that can be firmly attached to objects with a cylindrical shape. Leveraging the manifold assumption, the cross-ratio in projective invariance is utilized for encoding in the direction of zero curvature on the surface. Additionally, to facilitate the usage of CylinderTag, we propose a heuristic search-based marker generator and a high-performance recognizer as well. Moreover, an all-encompassing evaluation of CylinderTag properties is conducted by means of extensive experimentation, covering detection rate, detection speed, dictionary size, localization jitter, and pose estimation accuracy. CylinderTag showcases superior detection performance from varying view angles in comparison to traditional visual markers, accompanied by higher localization accuracy. Furthermore, CylinderTag boasts real-time detection capability and an extensive marker dictionary, offering enhanced versatility and practicality in a wide range of applications. Experimental results demonstrate that the CylinderTag is a highly promising visual marker for use on cylindrical-like surfaces, thus offering important guidance for future research on high-precision visual localization of cylinder-shaped objects. The code is available at: https://github.com/wsakobe/CylinderTag.

翻译：基于视觉标记的高精度姿态估计一直是计算机视觉领域的热门研究方向。然而，传统平面标记在曲面物体上的适用性受限于曲面的多样化形状，这阻碍了曲面物体高精度姿态估计技术的发展。为此，本文提出一种新型视觉标记CylinderTag，专为可展曲面（如圆柱面）设计。CylinderTag是一种环形标记，可紧密贴合圆柱形物体。利用流形假设，采用射影不变性中的交比作为编码方式，沿曲面零曲率方向进行编码。此外，为便于使用CylinderTag，我们提出基于启发式搜索的标记生成器与高性能识别器。通过大量实验对CylinderTag的检测率、检测速度、字典容量、定位抖动及姿态估计精度等特性进行了全面评估。与传统视觉标记相比，CylinderTag在不同视角下展现出更优的检测性能与更高的定位精度。同时，CylinderTag具备实时检测能力与大规模标记字典，在广泛应用中展现出更强的通用性与实用性。实验结果表明，CylinderTag是一种极具潜力的圆柱面视觉标记，为未来圆柱形物体高精度视觉定位研究提供了重要指导。代码开源地址：https://github.com/wsakobe/CylinderTag。