We propose a fast and stable camera match-moving method aimed for real-time augmented reality applications. A known marker is used for fast and robust detection of marker points and for stable camera pose estimation. From the detected image points of a known marker on a single frame, we estimate the camera position and translation parameters. The entire pose estimation process is linear and initial estimates are not required. The most suitable reference point for the pose estimation is automatically chosen by investigating the depth variation. A planar marker is also allowed, since our linear method handles rank deficient cases. As an application of the proposed method, we implement a video augmentation system that replaces the marker in image frames with a virtual graphical object during the marker tracking. Experimental results show that the proposed camera tracking method is robust and fast enough for interactive video-based applications.