A method for printing on an article can include selecting a shape model. The shape model is generated from a first image and includes a fiducial, a reference location, and a graphic marker, the fiducial is located in the first image. The reference location is based on a location of the fiducial in the first image, and the graphic marker is positioned at a pre-selected location relative to the reference location. The method can also include locating the fiducial in a second image of an article, by a computing device, establishing the reference location in the second image of the article, positioning the graphic marker within the second image of the article at the pre-selected location, and printing a graphic on the article at a graphic location, the graphic location on the article corresponds to the pre-selected location of the graphic marker on the second image of the article.