Abstract: The present invention is a system for real time tracking of position and orientation, termed "pose", of a remote camera. While remote cameras have been used on a regular basis to inspect machinery for wear or damage, knowing the exact location of a camera is difficult. Off-line feature extraction is employed with on-line pose determination. The feature extraction precomputes features from a CAD model of the object visible in a selected set of views. The on-line pose determination starts from an initial pose estimate, determines the visible model features, projects them into a two-dimensional image coordinate system, matches each to the current camera image, and uses the differences between the predicted and matched feature positions in a gradient descent technique to iteratively refine the pose estimate. The on-line portion of the system is designed to execute at video frame rates, providing a continual indication of borescope tip pose.