A method for calibrating a 3D measurement arrangement that comprises a 3D vision subsystem, a 3D coordinate sensor and a processing unit having a non-volatile memory, - with the 3D vision subsystem defining a vision measurement volume and a vision coordinate system, - with the 3D coordinate sensor being moveable within the vision measurement volume and defining a sensor measurement volume and a sensor coordinate system, - with the 3D coordinate sensor carrying at least one optical tracking marker and being configured for recording first 3D coordinate data on a measurement object relative to the sensor coordinate system, and - with the 3D vision subsystem being configured for recording second 3D coordinate data representing a respective marker position of said at least one optical tracking marker relative to the vision coordinate system, the method comprising the steps of: positioning a calibration artifact in the vision measurement volume, recording a plurality of first 3D coordinate data on the calibration artifact using the 3D coordinate sensor in a series of recording steps, wherein the 3D coordinate sensor is moved in the vision measurement volume and positioned at various sensor positions relative to the calibration artifact from one recording step to another recording step in the series of recording steps, recording a plurality of second 3D coordinate data at said various sensor positions in the vision measurement volume, providing a reference coordinate system, computing both at least one marker coordinate position and a position of the sensor coordinate system relative to the reference coordinate system on the basis of the plurality of first 3D coordinate data and the plurality of second 3D coordinate data using joint computing steps, and storing calibration data into the non-volatile memory, with the calibration data representing the at least one marker coordinate position and the position of the sensor coordinate system relative to the reference coordinate system, characterized in that the joint computing steps comprise minimizing a joint error matrix comprising a plurality of first and second error matrix terms, with the first error matrix terms representing marker positions at the various sensor positions, and with the second error matrix terms representing positions on the calibration artifact. - with the 3D vision subsystem defining a vision measurement volume and a vision coordinate system, - with the 3D coordinate sensor being moveable within the vision measurement volume and defining a sensor measurement volume and a sensor coordinate system, - with the 3D coordinate sensor carrying at least one optical tracking marker and being configured for recording first 3D coordinate data on a measurement object relative to the sensor coordinate system, and - with the 3D vision subsystem being configured for recording second 3D coordinate data representing a respective marker position of said at least one optical tracking marker relative to the vision coordinate system, positioning a calibration artifact in the vision measurement volume, recording a plurality of first 3D coordinate data on the calibration artifact using the 3D coordinate sensor in a series of recording steps, wherein the 3D coordinate sensor is moved in the vision measurement volume and positioned at various sensor positions relative to the calibration artifact from one recording step to another recording step in the series of recording steps, recording a plurality of second 3D coordinate data at said various sensor positions in the vision measurement volume, providing a reference coordinate system, computing both at least one marker coordinate position and a position of the sensor coordinate system relative to the reference coordinate system on the basis of the plurality of first 3D coordinate data and the plurality of second 3D coordinate data using joint computing steps, and storing calibration data into the non-volatile memory, with the calibration data representing the at least one marker coordinate position and the position of the sensor coordinate system relative to the reference coordinate system, characterized in that the joint computing steps comprise minimizing a joint error matrix comprising a plurality of first and second error matrix terms, with the first error matrix terms representing marker positions at the various sensor positions, and with the second error matrix terms representing positions on the calibration artifact.