Object tracking and pose estimation have always been challenging tasks in robotics, particularly for rotating objects. Rotating objects move quickly and with complex pose variations. In this study, we introduce a marker-based tracking and pose estimation method for rotating objects using a high-speed vision system. The method can obtain pose information at frequencies greater than 500 Hz, and can still estimate the pose when parts of the markers are lost during tracking. A robot catching experiment shows that the accuracy and frequency of this system are capable of high-speed tracking tasks.