This paper presents a landmark-free approach to estimate the fiberscope pose during endoscopic exploration for in-vivo optical biopsy. The fiberscope pose is estimated by fitting the projection of a virtual 3D cylinder into the endoscopic images. The cylinder axis is estimated based on the apparent contours using Plücker coordinates and its insertion is estimated by maximizing the similarity between binary masks. The performance of the method is evaluated on simulations: the mean Euclidian distance of fiberscopic tip between estimated pose and ground truth is 0.158 ± 0.113 mm. The in-vivo performance is assessed in two endoscopic sequences by comparing automatic RCF and manual segmentations in terms of angular deviation of the axis and Euclidian distance between the tip location. The estimation of the relative position of both cameras allows to perform registration between the two image modalities.