This thesis presents the methods used to estimate the pose of an object. The pose estimation can be done with two possible approaches, one is using markers and the second is model based. This work is divided in two parts, the first part presents the markers based method and the second part the model based method. The first method is implemented in Python using OpenCV, the second method is implemented in C++ using OpenCV and VISP,it is a modular software package done by INRIA. In order to estimate the position and orientation of the object using the markers based method, it is necessary have at least four points, but in order to increase robustness and achieve good results it is better to use at least six markers.