Methods and systems for tracking camera pose using dynamically calibrated line features for augmented reality applications are disclosed. The dynamic calibration of the line features affords an expanded tracking range within the real environment and into adjacent, un-calibrated areas. Line features within a real environment are modeled with a minimal representation, such that they can be efficiently dynamically calibrated as a camera pose changes within the environment. A known camera pose is used to initialize line feature calibration within the real environment. Parameters of dynamically calibrated line features are also used to calculate camera pose. The tracking of camera pose through a real environment allows insertion of virtual objects into the real environment without dependencies on pre-calibrated landmarks.