The use of near-infrared (NIR) band gives us additional invisible information to discriminate objects and enables us to recognize objects more clearly under low light conditions. To acquire color and NIR bands together in a single image sensor developed from a conventional color filter array (CFA), we use a multispectral filter array (MSFA) in the RGB-NIR sensors and design a color interpolation algorithm to fill the information about the multi-spectral (MS) bands from the subsampled MSFA image. Aliasing in the MSFA image caused by the subsampled bands is minimized by balancing the energy of the bands. A panchromatic (PAN) image is generated by filtering the low-pass kernel to the MSFA image. This PAN image without chrominance signals, which contains the most high-frequency in the MSFA image, is used to reconstruct the MS images by solving the least square cost function between the PAN and MS images. The experiments show that the proposed algorithm estimates the high-resolution MS images very well.