A new approach measuring 3D pose of spatial axis-symmetry object by binocular vision is proposed.The object axis on the each image plane is obtained by linear numerical method

and the axis-symmetry direction vector is calculated by two spatial intersecting planes

each plane is formed by the object’s image centerline with the corresponding camera optical center.The gray and feature matching in traditional pose measuring approach are avoided.The simulation experiments demonstrate that the pose measuring method is of less than 0.5°accuracy

the measuring result is stable and the calculating speed can satisfy the need of real-time measurement.