A method for determining coordinates of a target in relation to a surveying instrument comprising a first camera (501, 502) in a first camera position and orientation, and a second camera (503, 504) in a second camera position and orientation, comprising: capturing a first image using the first camera (S401, S601); selecting a target by identifying at least one object point in the first image (S402, S602); measuring first image coordinates (S403, S601) of the at least one object point in the first image; capturing a second image using the second camera (S401, S601); identifying (S404, S609a, S609b), in the second image, the at least one object point identified in the first image, further comprising: selecting a minimum distance (Dmin) and a maximum distance (Dmax) from the first camera position along the imaging ray of the target in the first image, between which minimum distance and maximum distance the target is located; determining a section of an epipolar line in the second image on which the at least one object point is located based on the maximum distance, the minimum distance, the first camera position and orientation, the second camera position and orientation, the first image coordinates, and first and second camera calibration data; and identifying, along the section of the epipolar line in the second image, the at least one object point identified in the first image (S404, S609a); measuring second image coordinates of the at least one object point in the second image (S405, S611); and determining target coordinates of the target in relation to the rotation center of the surveying instrument based on the first camera position and orientation, the first image coordinates, the second camera position and orientation, the second image coordinates, and first and second camera calibration data. capturing a first image using the first camera (S401, S601); selecting a target by identifying at least one object point in the first image (S402, S602); measuring first image coordinates (S403, S601) of the at least one object point in the first image; capturing a second image using the second camera (S401, S601); identifying (S404, S609a, S609b), in the second image, the at least one object point identified in the first image, further comprising: selecting a minimum distance (Dmin) and a maximum distance (Dmax) from the first camera position along the imaging ray of the target in the first image, between which minimum distance and maximum distance the target is located; determining a section of an epipolar line in the second image on which the at least one object point is located based on the maximum distance, the minimum distance, the first camera position and orientation, the second camera position and orientation, the first image coordinates, and first and second camera calibration data; and identifying, along the section of the epipolar line in the second image, the at least one object point identified in the first image (S404, S609a); measuring second image coordinates of the at least one object point in the second image (S405, S611); and selecting a minimum distance (Dmin) and a maximum distance (Dmax) from the first camera position along the imaging ray of the target in the first image, between which minimum distance and maximum distance the target is located; determining a section of an epipolar line in the second image on which the at least one object point is located based on the maximum distance, the minimum distance, the first camera position and orientation, the second camera position and orientation, the first image coordinates, and first and second camera calibration data; and identifying, along the section of the epipolar line in the second image, the at least one object point identified in the first image (S404, S609a); measuring second image coordinates of the at least one object point in the second image (S405, S611); and determining target coordinates of the target in relation to the rotation center of the surveying instrument based on the first camera position and orientation, the first image coordinates, the second camera position and orientation, the second image coordinates, and first and second camera calibration data.