This thesis aims to develop a Computer Vision system that measures with high accuracy the position and orientation of a sample attached to an anthropomorphic robotic manipulator. This system is intended to act as the main sensor in an external control loop, to improve the accuracy in the actual sample positioning system for the neutron diffractometer STREESS-SPEC at the Heinz Maier-Leibnitz center in Garching. The experiments that are carried out in this facility, require an error in position to be less than 50 µm in any direction, while for orientation it cannot be higher than 0.5 degrees in each axis. The actual positioning system consists of a 6-axis industrial manipulator that has a repeatability of 50 µm, but an absolute accuracy of approximately 0.5 mm.