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The fast, non-contact and highly precise shape measurement of objects is a key importance in the scientific-technological area as well as the area of practical measurement technology. A approach is proposed to determines the world coordinates of markers that are attached to the large-scale object measured, which is based on computer vision. The object-point 3D coordinates of partial views containing markers are obtained by other techniques that have been successfully commercialized, such as triangulation or laser scanning, etc. The coordinates of markers are used to transform point clouds of the partial views to the world coordinate system to achieve 3D shape measurement of large-scale complex car body.