We propose a position detection mechanism for locationaware Pin&Play. Though the positions of inserted pins are important for most applications, they could not be detected in previous systems. The proposed method detects the positions of pins by processing images taken with a camera placed in front of the board. The proposed method has a dynamic adjustment mechanism for image processing parameters to achieve higher accuracy even when the surrounding lighting condition changes. Moreover, it also has an error estimation mechanism to avoid the accumulation of position error. We also clarify the effectiveness of our proposed method through performance evaluations.