A weighted pose estimation method using lines that intersect at a point is proposed. Because of the weak constraints, the accuracy of pose estimation using lines in this configuration is sensitive to the error of a two-dimensional (2D) line parameter. Therefore, we construct the objective function directly based on weighted image line points instead of 2D lines; the influence of errors introduced through image line points is reduced by the reasonably designed weights. The translation parameter T cannot be determined based on lines in this configuration; thus, when the rotation R is obtained, T is solved linearly by introducing one or more additional points. The experimental results indicate that our method outperforms other methods in terms of accuracy and noise robustness.