To improve the convergency speed, a bilinear method for bundle adjustment is presented in this paper. The algebraic distance instead of the geometric distance is minimized. The alternate steps where these projective points keep constant (respectively estimated) while the projective matrices are estimated (respectively kept constant) is proposed. The advantage of the method is that all the images are treated uniformly. It is proved that the method can converge to the minimum. The theory analysis and experiment results show that the proposed method is very efficient.