1. A method of camera pose estimation in a camera, the method comprising: capturing a model image of a scene at a pre-determined canonical camera pose; initializing a current camera pose to the pre-determined canonical camera pose; transforming the model image based on a plurality of camera poses to generate a plurality of warped images of the model image; generating an image library to include the plurality of warped images and the model image, wherein the image library includes a camera pose for each of the warped images and for the model image; after generating the image library, capturing a plurality of camera images as the camera is moved starting from the initialized current camera pose; and tracking a pose of the camera for each of the captured images using the image library.