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Despite the significant progress in camera pose estimation and structure‐from‐motion reconstruction from unstructured images, methods that exploit a priori information on camera arrangements have been overlooked. Conventional state‐of‐the‐art methods do not exploit the geometric structure to recover accurate camera poses from a set of patch images in an array for mosaic‐based imaging that creates a wide field‐of‐view image by sewing together a collection of regular images. We propose a camera pose estimation framework that exploits the array‐structured image settings in each incremental reconstruction step. It consists of the two‐way registration, the 3D point outlier elimination and the bundle adjustment with a constraint term for consistent rotation vectors to reduce reprojection errors during optimization. We demonstrate that by using individual images' connected structures at different camera pose estimation steps, we can estimate camera poses more accurately from all structured mosaic‐based image sets, including omnidirectional scenes.