An approach for estimating object pose from coplanar circles and implementation 3D registration is proposed in augmented reality. Provided that intrinsic parameters of camera has been calibrated, according to common virtual intersecting points between absolute conic and coplanar circles，rotation component of pose is estimated through calculating the equation of vanishing line, determining the centers of circles as well as axes direction of frame. Furthermore, translation component is finally calculated so that object pose is determined completely. The algorithm requires fewer preconditions with low computational cost, which is more readily satisfied in industrial scenario. Experiments on synthetic datum and real object show that the algorithm is correct and robust to noise and occlusion.