In this thesis a system for localization of pieces in unstructured environment was developed. A system is implemented that consists of Zivid 3D stereo camera which can be used through Zivid Studio. For the purpose of building this system Zivid camera was implemented in an online fashion, using its own C++ Library supplied by the manufacturer. Alongside the camera an algorithm for localization based on recognition was implemented using the C++ PCL(Point Cloud Library) library. Concepts of model and scene were used, where the model stands for an object of known position and scene stands for an unstructured environment, using the localization algorithm it is possible to find an object on scene using an already known model of object. Also, in this thesis a robot manipulator Yaskawa CSDA10F was implemented paired up with the controller FS100, which executes the positioning of its TCP(Tool Center Point) in reference to the localized object, which confirms the success of localization. To implement the robot, a Hand Eye calibration procedure between the robot and the Zivid Camera was carried out, which connects the base coordinate system of the robot with the center of the camera. A C language application was created using the Motoplus library which allows the use of following options needed for system to function properly: communication of robot with the computer using the socket communication, functions for transformation of the results given by the localization algorithm to the position variables of the robot, and lastly, functions for manipulation with other robot variables and signals. To demonstrate the practical use of the aforementioned work, a Bin Picking application was developed in which a robot picks up the piece found using the system for localization and places it on a predetermined location. For the purpose of picking a vacuum gripper was designed and fabricated.