Well, it's hard to say which image is best recognized - in different lighting conditions, any color can be interpreted as a different color. A simple example:

As you can see, the road signs have a border with red color, but even in one image the upper border of the sign is obviously not red.
So, in my opinion, you should use an image with many different colors (like a rainbow). And also you said that it should be easily recognizable from different angles. Therefore, the round shape is the best for him.
This is why your image should look like this:

So, the idea of ββdetecting such an object is as follows:
- Make different color segmentation (blue, red, green, etc.). Use the HSV color space for this.
- Detection of circles of a certain color in the image.
- This area, which has the most circles, seems to be your subject.
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