A camera pose estimation system is provided for estimating the position of a camera within an environment. The system may be configured to receive a 2D image captured by a camera within the environment, and interpret metadata of the 2D image to identify an estimated position of the camera. The 2D image may be registered within a 3D model of the environment, and more particularly, registered within the image plane of a synthetic camera within the model at the estimated position. A 3D point within the 3D model that has a corresponding 2D point on the 2D image may be identified. The synthetic camera and thereby the image plane and 2D image may be repositioned to a new position at which a projection line from the synthetic camera and through the corresponding 2D point intersects the corresponding 3D point, the new position being a refined position of the camera.