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A novel approach of pose estimation is proposed for the object with surface of revolution(SOR). The silhouette of the object is the only information necessary for this method and no cross section circle (latitude circle) is needed. In this article, we explain the property of tangent circle and use it to establish constraint between two images of object with different poses. Such constraint can help to solve the pose of object in both images. We test our method with a simulation experiment and use it to estimate the pose for both rigid body and articulated object.