Abstract: A three-dimensional measurement method and device are intended for fast and accurate measurement of large objects such as vehicles. The method includes the steps of determining approximate measurement positions of a shape measurement sensor; positioning the sensor at successive approximate measurement positions to read off the shape of surface portions of the object represented by points on the object whose co-ordinates are expressed in a system of axes fixed relative to the sensor; identifying accurate positions of the sensor at the approximate measurement positions relative to a predetermined fixed system of axes; and converting the co-ordinates of the points of the surface portions expressed in the system of axes fixed relative to the sensor into co-ordinates expressed in the fixed system of axes on the basis of the identified accurate positions of the sensor.