Method for measuring a chassis, comprising the following steps: providing a chassis measuring system having four measuring heads (2, 4, 14, 16) arranged in known positions with respect to one another, of which each has a monocular image recording apparatus (22, 24, 26, 28); capturing at least three geometry details of in each case one wheel (6, 8, 10, 12) of a vehicle disposed in a starting position with each of the four measuring heads (2, 4, 14, 16); effecting a relative movement between the vehicle and the measuring heads (2, 4) from the starting position into at least one further position, wherein the relative position of the measuring heads (2, 4, 14, 16) with respect to one another is known; capturing the at least three geometry details of in each case one wheel (6, 8, 10, 12) of the vehicle disposed in the further position with each of the four measuring heads (2, 4, 14, 16); determining the 3D coordinates of the geometry details in the local coordinate system of the respective measuring head (2, 4, 14, 16), the translation vectors (t 1, t 2, t 3, t 4) and the rotation vectors (R 1, R 2, R 3, R 4) of the wheels (6, 8, 10, 12) from the positions of the geometry details in the starting position and the end position and from the formulation of a three-dimensional movement of a rigid body between the two positions with introduction of the rotation centres, the rotation axes and the rotation angles of the wheels; determining a global scale for the measuring heads by scaling the translation vectors (t1, t2, t3, t4) of the wheels (6, 8, 10, 12) such that the translation vectors (t1, t2, t3, t4) have the same length; and determining camber, single and/or total track of the vehicle. providing a chassis measuring system having four measuring heads (2, 4, 14, 16) arranged in known positions with respect to one another, of which each has a monocular image recording apparatus (22, 24, 26, 28); capturing at least three geometry details of in each case one wheel (6, 8, 10, 12) of a vehicle disposed in a starting position with each of the four measuring heads (2, 4, 14, 16); effecting a relative movement between the vehicle and the measuring heads (2, 4) from the starting position into at least one further position, wherein the relative position of the measuring heads (2, 4, 14, 16) with respect to one another is known; capturing the at least three geometry details of in each case one wheel (6, 8, 10, 12) of the vehicle disposed in the further position with each of the four measuring heads (2, 4, 14, 16); determining the 3D coordinates of the geometry details in the local coordinate system of the respective measuring head (2, 4, 14, 16), the translation vectors (t 1, t 2, t 3, t 4) and the rotation vectors (R 1, R 2, R 3, R 4) of the wheels (6, 8, 10, 12) from the positions of the geometry details in the starting position and the end position and from the formulation of a three-dimensional movement of a rigid body between the two positions with introduction of the rotation centres, the rotation axes and the rotation angles of the wheels; determining a global scale for the measuring heads by scaling the translation vectors (t1, t2, t3, t4) of the wheels (6, 8, 10, 12) such that the translation vectors (t1, t2, t3, t4) have the same length; and determining camber, single and/or total track of the vehicle.