An iterative multi-image camera orientation estimation comprising: capturing an image of a scene before the camera; detecting line segments in the scene; computing a maximum likelihood (ML) camera orientation by maximizing a likelihood objective by rotating the camera's X-Y-Z coordinate system such that it is being optimally aligned with the line segments in at least two of the frontal, the lateral, and the vertical orthogonal directions; estimating a maximum a-posteriori (MAP) camera orientation that maximizes an a-posteriori objective such that the MAP camera orientation is an optimal value in between the priori camera orientation and the ML camera orientation, and is closer to the one with smaller uncertainty; iterating the multi-image camera orientation estimation with the priori camera orientation and its corresponding priori camera orientation uncertainty set to the computed MAP camera orientation and its corresponding uncertainty respectively until the uncertainty is lower than a threshold.