1. An iterative method of estimating the pose of a PTZ camera while it is moving, said method comprising: (a) using 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 said reference image and said current image; said iterative method characterized by the following additional steps: (b) using information about the absolute camera pose, embedded in said matrix to simultaneously recalculate both the starting positions in said reference image and said motion estimate, wherein the information about the absolute camera pose comprises randomly chosen values of the parameters of said absolute camera pose; (c) using said recalculated starting positions and said recalculated motion estimate to determine the pose of said camera in said current image; (d) taking said current image as a new reference image, selecting a new current image and repeating steps (a) to (c) to determine the pose of said camera in said new current image; and (e) repeating step (d) until said camera stops moving.