This paper presents a novel weighted linear method for the camera pose estimation. The key idea of this method is to replace the algebraic error in the classic linear method with the weighted algebraic error that closes the geometric error. The method provides a linear solution whose accuracy is close to the accuracy of an ML estimation. Based on the DLT (direct linear transformation) algorithm and EPnP algorithm, the weighted DLT (WDLT) and weighted EPnP (WEPnP) algorithms are obtained by using the weighted linear technique. Experimental results with simulative data and real images show that the WDLT and WEPnP algorithms remarkably outperform the DLT and EPnP algorithms and in the case of small depth ratio, both of them outperform the Lu’s nonlinear algorithm.