Engineering and Technology Journal Vol. 38, Part A (2020), No. 05, Pages 707-718 Engineering and Technology Journal Journal homepage: engtechjournal.org 707 Publishing rights belongs to University of Technology’s Press, Baghdad, Iraq. Pose Estimation of Objects Using Digital Image Processing for Pick-and-Place Applications of Robotic Arms Firas S. Hameed a* , Hasan M. Alwan b , Qasim A. Ateia c a University of Technology, Assina'a Street, Baghdad, Iraq, firassubhyhameed@gmail.com b University of Technology, Assina'a Street, Baghdad, Iraq, 20071@uotechnology.edu.iq c University of Technology, Assina'a Street, Baghdad, Iraq, 20044@uotechnology.edu.iq *Corresponding author. Submitted: 17/08/2019 Accepted: 10/02/2020 Published: 25/05/2020 KEYWORDS ABSTRACT Robot Vision, Pose Estimation, Image Processing, Edge Detection, Eigenvector Line Fitting, Scatter Matrix, Robot Vision is one of the most important applications in Image processing. Visual interaction with the environment is a much better way for the robot to gather information and react more intelligently to the variations of the parameters in that environment. A common example of an application that depends on robot vision is that of Pick-And-Place objects by a robotic arm. This work presents a method for identifying an object in a scene and determines its orientation. The method presented enables the robot to choose the best-suited pair of points on the object at which the two-finger gripper can successfully pick the object. The scene is taken by a camera attached to the arm’s end effector which gives 2D images for analysis. The edge detection operation was used to extract a 2D edge image for all the objects in the scene to reduce the time needed for processing. The methods proposed showed accurate object identification which enabled the robotic to successfully identify and pick an object of interest in the scene. How to cite this article: F. S. Hameed, H. M. Alwan, and Q. A. Ateia, “Pose estimation of objects using digital image processing for pick-and-place applications of robotic arms,” Engineering and Technology Journal, Vol. 38, Part A, No. 05, pp. 707-718, 2020. DOI: https://doi.org/10.30684/etj.v38i5A.518 1. Introduction Robot vision is the field of image processing that enables a robotic system to visualize the environment in which it is working. Having this visual ability gives the robotic system more advantages related to performance and task accomplishment. Welding, polishing, assembling and many other applications a robotic system can do better when it has the ability to visualize the region of interest. One of the most commonly known tasks is that of pick-and-place of objects. The present work aims to develop an efficient picking and placing algorithm for an object regardless of its shape