This paper proposes an augmented reality marker that can be robustly detected even on a cylindrical surface. The marker enables the surface normal estimation of a cylindrical object to realize the presentation of appropriate virtual information on the object. Conventional markers have difficulty detecting and obtaining accurate surface normal in the presence of occlusion or distortion of the marker in the image. Furthermore, it is difficult to identify a feature on a cylindrical object on which to position a marker. These problems are resolved by relying on the characteristic that a line parallel to the central axis of the cylinder maintains linearity. In addition, surface normal is calculated by estimating the object's shape by using transformation matrices.