In close range industrial photogrammetry, according to the requirements of precise positioning and accurate recognition of circular coded point, a robust recognition algorithm is proposed. After preprocessing the target image, the algorithm firstly locates the coded point initially according to the edge filtering criterion and segment the feature region containing coding band. Then, the least square method is used to perform affine transformation on the feature region and the degenerated ellipse in perspective projection is mapped into a regular circle. Finally, the average pixel method is used to obtain the decoding value of the circular coded points, which further improves the anti-noise performance of the circular coded points. A large number of experiment results show that this method can not only achieve sub-pixel level in the center location of circular coded points, but also improve the robustness to the recognition angle of the algorithm. When the recognition angle is 70°, the correct recognition rate can still reach 97. 9% , which has good practical application value in actual complex scene.