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.　IEEE