Pose estimation provides the basis of mobile systems navigation. Especially for in- door navigation precision is highly important due to small distances. This thesis gives an overview of existing positioning techniques in the indoor area and evaluates these with respect to the requirements of navigation in areas ranging from small rooms up to areas of the size of warehouses. A camera-based solution employing a thirteen parameters 3D camera model is being developed, featuring a system which is easy to calibrate while having an accuracy of a few millimeters. The solution presented in this thesis is portable to any kind of platform due to the six degrees of freedom (6DoF) in translation and rotation. As a proof of concept it is being realized on a mo- bile platform. Finally the results which have been measured on the mobile platform will be evaluated with regard to precision and sampling rate.