Abstract: The sensor modeling of binocular stereo visual equipment with four degree of freedom is established. According to the principle that a spatial point is only determined through two crossing half lines, the quickly matching method, which enables to solve the corresponding points about the same point on the objective matter in the different CCD images, is presented by adding the laser on the cameras. The deepness message can conveniently obtain by laser token. Eventually, the algorithm on position and pose of spatial object is researched, and the feasibility is validated by the cylinder which its position and pose is known on the space.

Key words: Laser token, Position and pose, Quickly measurement algorithms, Stereo vision