I. Introduction
Three-dimensional (3D) measurement is an essential procedure in various manufacturing industries including shipbuilding. Especially in the shipbuilding process, the measurements of the 3D coordinates of joints and junctions require measurement error within 3 mm. The electronic distance measurement are currently widely used. Also, the optical scanning systems are combined with 2D vision system to perform the 3D measurement [1]. However, compared to these methods, binocular (stereo) systems are being demanded for large-scale structure measurement, since they are convenient, time-saving and high-accuracy in spite of simple set-up.