Fiducial marker systems are composed of a number of patterns that are mounted in the environment and automatically detected by computer vision algorithms using digital techniques. Thus, these systems are valuable in augmented reality (AR), robot navigation, and other applications. This paper proposes a new AR marker called CH-marker, which uses Hamming check codes to encode multiple kinds of colors and restore binary codes in the squares occluded in the markers. The marker solves the registration failure, which occurs when the markers are partially occluded in dynamic scenes. Experiments showed that the proposed marker is effective, reliable, and can meet the application demand of AR.