Abstract: The present disclosure is directed to a method for determining a current position and/or orientation of a laser radar relative to an object by a computer. A camera system is attached to the laser radar. In the method, the position of the camera system is determined by obtaining one or more images of the object. At least three reference targets having a fixed spatial relationship to the target are observed in the one or more images. The relative spatial relationship and/or the position of the at least three reference targets on the object to each other is obtained from a storage. The position of the reference targets relative to the camera is calculated by using the relative spatial relationship of the at least three reference targets to each other and the observed spatial directions to said reference targets defined relative to a camera fixed coordinate system.