To automatically and continuously estimate the 6-DOF pose of industry parts with a monocular camera, three related problems, building an off-line template library, image processing, and optimizing match, were researched. Firstly, the matching templates under different orientations were established by the CAD model in a STL(Standard Template Library)format, and a new pose parameter was defined to provide the call for a template library. Then, Chamfer Matching method was improved and the sensitivity of fitness function was improved without more time spending by layering the distance mapping map and matching the angle of template searching points. Finally, simulated annealing algorithm together with genetic algorithm was applied to the optimum searching to improve the matching efficiency in real time. The experiment result indicates that the whole match progress spends less than 500 ms, and the correct results are obtained. The translation error and the depth direct error have been kept by less than 1 mm and 2 mm respectively, and the rotate error is about 1° in a viewing distance of 330 mm. The result satisfies the requirements of the monocular vision system for rapid and automatic pose estimation.