It still lacks of systematic method for solving pose estimation of a multiple camera system (MCS). The pose-estimation problem is usually achieved by solving the Perspective-n-point problem or finding the least-squared-error rigid transformation between two 3D point sets. They have limitations. The orthogonal iteration (OI) algorithm is charalteristic can converge fast and globally is based on points. And it is one of the state-of-art real-time pose estimation algorithms and used widely. A generalized iterative algorithm is proposed. It is a universal multi-view algorithm for pose estimation. In the method, all images acquired from the cameras are treated as a whole, and the relative pose parameter is calculated this method, datum of multiple cameras is unified, and the sum of object-space collinearity error of feature points all cameras sensed is used as error function for MCS. An iterative algorithm is developed to minimize the error function. The experiment result demonstrates its effectiveness and superiority of the algorithm for pose estimation of MCS.