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Try a simple chessboard pattern. A 2x2 chessboard can be seen from very far away, and the center is the center no matter how close you get.
It's got a detector built into opencv already, and you can increase the size to 3x3 or 4x4 to make it less likely to see false alarms. That would require a bit more processing once you get close to make sure you land at the center, but it shouldn't be hard.
