The applications of robotics are becoming more and more popular. Lots of tasks in the industry like welding, painting, handling, assembly, casting and so on are handled by robots now. Currently most industrial robots on the production line are controlled by pre-teaching which is not effective and flexible. The automation of robots has been researched since the first robot introduced to the industry. The basic task like the automation of picking objects for a robot is still a challenge. University west wants to find a faster automation picking method for industrial robots. This thesis presents a simplified pose estimation algorithm for bin picking by using the CAD model of the object. The main idea is to simplify the pose estimation task by identifying all stable positions of the object and predefining a picking point for each stable position according to the data of its CAD model in advance. Then the online work focuses only on the image analysis in 2D which is simple so as to achieve a fast picking. The experimental results satisfy the requirements. First, all positions of the object are found by checking the convex hull of its CAD model. A stable position is identified as having the centre of gravity above the convex hull of the support surface of the position. Then virtual images are generated using a computed virtual camera, having the same parameters as the calibrated camera, in all stable positions of the object, seen from above. All virtual images are classified into different classes for the preparation of the online classification. Picking points for each stable position in the virtual images are predefined. The 3D data of each picking point is calculated according to the data of its CAD model in advance. Finally, the online work finds the class which the real image represents and the predefined picking point. The final pose is estimated by the position transformed from the image coordinate system to the world coordinate system using the camera position and rotation. This algorithm focuses on well-defined objects having a limited number of stable positions and only non-zero area support surfaces. Further works will be the trajectory planning which should avoid conflict by using the CAD model of the object.