Pose estimation of 3d object is a hot research in the field of computer vision. This paper presents a novel pose estimation method based on colored markers. To overcome the effect of the luminance and other colors, this method uses the HSV color space and isolates the colors operating only on chromaticity plane where value (V) has no actual effect for identifying the colored regions of interest. The template is then applied on the remaining colors in order to find the center of the region. The pixels which have the same color but are not in the marker area are excluded, since they are considered noisy. The template guarantees the stability and efficiency of the extraction of the feature points. Compared with the CDT algorithm, the proposed method can extract reliable center points, and has higher accuracy in pose estimation for planar rigid objects. At last, experimental results demonstrate the efficiency of the method.