In this paper we address the problem of simultaneous pose estimation for multi-modal registration of images captured using a fiberscope (multispectral) inserted through the instrument channel of a commercial endoscope (RGB). We developed a virtual frame using the homography-derived extrinsics parameters using a chessboard pattern to estimate the initial pose of both cameras and simulate two types of fiberscope movements (i.e, insertion and precession). The fiberscope pose is calculated by the maximization of similarity measures between the 2D projection of the simulated fiberscope and the fiberscope tip segmentation from the endoscopic images. We used the virtual frame to generate sets of synthetic fiberscope data at two different poses and compared them after the maximization of similarity. The performance was assessed by measuring the reprojection error of the control points for each pair of images and the pose absolute error in a sequential movement mimicking scenario. The mean reprojection error was 0.38 ± 0.5 pixels and absolute error in the tracking scenario was 0.05 ± 0.07 mm.