Abstract: An apparatus for measuring, inspecting and/or processing objects is provided. The apparatus has a mobile platform for moving the apparatus through a region in space and a kinematic system attached to the mobile platform. An instrument head is fitted to the kinematic system. The apparatus furthermore comprises a controller configured to determine a first estimate of a pose of a target object on the basis of an image from a camera of the apparatus and a digital representation of the target object, to control the mobile platform on the basis of the first estimate, to move toward the target object, to determine a second estimate, in particular a more accurate estimate, of the pose of the target object on the basis of signals from at least one sensor of the apparatus and to control the kinematic system to position the instrument head on the target object on the basis of the second estimate.