Application of machine vision technology in detection of objects pose is researched. Set up industrial cameras in two different directions and take pictures of target objectsthen complete camera calibration using Zhang Zhengyou’s method based on 2D planar target. Complete preliminary target detection by subtracting background image from the target image and Morphological operation

so the target area is determined. Then use Hough transform to detect line edge

Epipolar constraint

gray similarity and line constraint is adopted to match the lines and their endpoints. Calculate three-dimensional（ 3D） space coordinates and unit direction vector of endpoint of each straight lines. Since the target template is known

the geometry parameter is available

using simple geometric relationship to calculate pose data of target.