diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index 942cd1c9f..9f196d74d 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -212,6 +212,19 @@ public class PhotonPoseEstimator {
         }
 
         PhotonPipelineResult cameraResult = camera.getLatestResult();
+
+        return update(cameraResult);
+    }
+
+    /**
+     * Updates the estimated position of the robot. Returns empty if there are no cameras set or no
+     * targets were found from the cameras.
+     *
+     * @param cameraResult The latest pipeline result from the camera
+     * @return an EstimatedRobotPose with an estimated pose, and information about the camera(s) and
+     *     pipeline results used to create the estimate
+     */
+    public Optional<EstimatedRobotPose> update(PhotonPipelineResult cameraResult) {
         if (!cameraResult.hasTargets()) {
             return Optional.empty();
         }
diff --git a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
index 3b4f27807..ecdc03eb1 100644
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
@@ -55,7 +55,11 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
 
 std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update() {
   auto result = camera.GetLatestResult();
+  return Update(result);
+}
 
+std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
+    const PhotonPipelineResult& result) {
   if (!result.HasTargets()) {
     return std::nullopt;
   }
diff --git a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h
index 6407732ee..10b89f499 100644
--- a/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h
+++ b/photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h
@@ -155,6 +155,11 @@ class PhotonPoseEstimator {
    */
   std::optional<EstimatedRobotPose> Update();
 
+  /**
+   * Update the pose estimator.
+   */
+  std::optional<EstimatedRobotPose> Update(const PhotonPipelineResult& result);
+
   inline PhotonCamera& GetCamera() { return camera; }
 
  private: