In this paper we present a new robust camera pose estimation approach based on 3D lines features. The proposed method is well adapted for mobile augmented reality applications We used an Extended Kalman Filter (EKF) to incrementally update the camera pose in real-time. The principal contributions of our method include first, the expansion of the RANSAC scheme in order to achieve a robust matching algorithm that associates 2D edges from the image with the 3D line segments from the input model. And second, a new powerful framework for camera pose estimation using only 2D-3D straight-lines within an EKF. Experimental results on real image sequences are presented to evaluate the performances and the feasibility of the proposed approach in indoor and outdoor environments.