Controlling robots in hazardous working areas such as nuclear and radioactive spaces is a very hard mission where the operator is not in direct contact with the robot.The current research presents aperceptive Vision-based offline programming assisted by visual cues to intuitively (re)program robots and gives the operator the feeling of realism as if being existent in the working area. Picking and placing task is the target application where the position and orientation areestimated,and virtual graphics augmented on the image to provide the operator with virtual feedback. The workspace is monitored using a stereo camera which sends images to the PC for image processing. An experiment has been conducted using A 6 DOF arm robot to validate and evaluate the proposed methodandresults are compared with real measurements for error estimation.The algorithm has been applied using MATLAB/SIMULINK program to show the validity of the proposed system and prove its success.