Aiming at the camera pose estimation problem

with the corresponding points number greater than six

we propose an accurate and fast algorithm which has a time complexity of () and is applicable to both: calibrated cameras and uncalibrated cameras. First

four non-coplanar virtual control points are selected and linear equations according to the relationship between space points and virtual control points and the image of space points are being setup. Then the image coordinates of the virtual control points and the camera internal parameters are solved by these equations. Second

the rotation matrix and the translation vector are solved by the POSIT (pose from orthography and scaling with iterations) algorithm according to virtual control points and their image points. Experimental results with simulative data and real images indicate that the time complexity and calculation precision of the proposed algorithm are better than EPnP (efficient perspective-n-point) algorithm which is the existing accurate and fast pose estimation algorithm for calibrated camera.The proposed algorithm can estimate both camera internal and external parameters

and time complexity and calculation precision are better then existing methods.