A robotic manipulation of objects typically involves object detection/recognition, servoing to the object, alignment and grasping. To perform fine alignment and finally grasping, it is usually necessary to estimate position and orientation (pose) of the object. We have developed a model based tracking system that estimates and continuously update the pose of the object to be manipulated. Here, a wire-frame model is used to find and track features in the consequent images. One of the important parts of the system is the ability to automatically initiate the tracking process. The strength of the system is the ability to operate in a realisticm indoor environment with changing lighting and background conditions.