Method for determining a wheel or axle geometry of a vehicle, comprising: illuminating a wheel region with structured light and with unstructured light during a wheel rotation of at least one wheel; capturing a plurality of images of the wheel region during the illumination for the purpose of creating a three-dimensional surface model having surface parameters, a texture model having texture parameters and a movement model having movement parameters of the captured wheel region, wherein the three-dimensional surface model is obtained from the images with structured illumination and a two-dimensional greyscale value image is obtained from the images with unstructured illumination, said greyscale value image serving to determine the texture model, and wherein the movement parameters are obtained by assigning greyscale value information of the greyscale value images to surface points of the surface model, calculating values for the surface parameters, the texture parameters and the movement parameters by a variational calculation depending on the captured images for the purposes of minimizing a deviation of the three-dimensional surface model, texture model and movement model from image data of the captured images; and determining an axis of rotation and/or a centre of rotation of the wheel depending on the calculated values of the movement parameters, wherein the method further comprises: illuminating the wheel region with structured light and with unstructured light when the wheel is at rest; capturing a plurality of images of the wheel region during the illumination for the purpose of producing measurement image data of the wheel; modifying the values of the movement parameters in the case of fixed values of the surface parameters and texture parameters by way of a variational calculation in such a way that a deviation of the three-dimensional surface model, texture model and movement model from the measurement image data is minimized; and determining the track, camber, normal and translation vectors of the wheel depending on the modified values of the movement parameters. illuminating a wheel region with structured light and with unstructured light during a wheel rotation of at least one wheel; capturing a plurality of images of the wheel region during the illumination for the purpose of creating a three-dimensional surface model having surface parameters, a texture model having texture parameters and a movement model having movement parameters of the captured wheel region, wherein the three-dimensional surface model is obtained from the images with structured illumination and a two-dimensional greyscale value image is obtained from the images with unstructured illumination, said greyscale value image serving to determine the texture model, and wherein the movement parameters are obtained by assigning greyscale value information of the greyscale value images to surface points of the surface model, calculating values for the surface parameters, the texture parameters and the movement parameters by a variational calculation depending on the captured images for the purposes of minimizing a deviation of the three-dimensional surface model, texture model and movement model from image data of the captured images; and determining an axis of rotation and/or a centre of rotation of the wheel depending on the calculated values of the movement parameters, wherein the method further comprises: illuminating the wheel region with structured light and with unstructured light when the wheel is at rest; capturing a plurality of images of the wheel region during the illumination for the purpose of producing measurement image data of the wheel; modifying the values of the movement parameters in the case of fixed values of the surface parameters and texture parameters by way of a variational calculation in such a way that a deviation of the three-dimensional surface model, texture model and movement model from the measurement image data is minimized; and determining the track, camber, normal and translation vectors of the wheel depending on the modified values of the movement parameters. illuminating the wheel region with structured light and with unstructured light when the wheel is at rest; capturing a plurality of images of the wheel region during the illumination for the purpose of producing measurement image data of the wheel; modifying the values of the movement parameters in the case of fixed values of the surface parameters and texture parameters by way of a variational calculation in such a way that a deviation of the three-dimensional surface model, texture model and movement model from the measurement image data is minimized; and determining the track, camber, normal and translation vectors of the wheel depending on the modified values of the movement parameters.