Abstract: Provided is an iterative method of estimating the pose of a moving PTZ camera. The first step is to use an image registration method on a reference image and a current image to calculate a matrix that estimates the motion of sets of points corresponding to the same object in both images. Information about the absolute camera pose, embedded in the matrix obtained in the first step, is used to simultaneously recalculate both the starting positions in the reference image and the motion estimate. The recalculated starting positions and motion estimate are used to determine the pose of the camera in the current image. The current image is taken as a new reference image, a new current image is selected and the process is repeated in order to determine the pose of the camera in the new current image. The entire process is repeated until the camera stops moving.