Method for measuring a chassis, comprising the following steps: providing a chassis measurement system comprising four measurement heads (2, 4, 14, 16) arranged at a known position in relation to one another, each of said measurement heads having a monocular image recording device (22, 24, 26, 28), wherein the relative position of the measurement heads (2, 4, 14, 16) in relation to one another is known and wherein the distance (dVA) between the front measurement heads (2, 4) differs from the distance (dHA) between the rear measurement heads (14, 16); in each case recording a front wheel (6, 8) or a measurement target attached thereon using the rear measurement heads (14, 16) in at least one driven-in position of the vehicle; recording the four wheels (6, 8, 10, 12) or the measurement targets attached thereon using each one of the four measurement heads (2, 4, 14, 16) in a first principal measurement position and in at least one second principal measurement position of the vehicle; carrying out local 3D reconstructions with a local scale for determining the translation vectors (t1, t2, t3, t4), the rotation vectors (R1, R2, R3, R4) and the wheel rotation angles between these positions and the wheel rotation centres and the wheel axes of the wheels (6, 8, 10, 12) from the recorded images of the wheels (6, 8, 10, 12) or the measurement targets applied thereon; adapting the four local scales of the principal measurement positions to a common, global scale by comparing the vehicle movement; transferring the global scale to the 3D reconstruction of the driven-in measurement positions by comparing the identical geometry of the front axis; determining an absolute scale for the measurement heads (2, 4, 14, 16) from the measurements of the front wheels (6, 8) or the measurement targets attached thereon in the driven-in positions and in the principal measurement positions, and from the difference in the distances between the front image recording devices and the rear image recording devices, wherein this difference is known; and determining the chassis measurement parameters of the vehicle, in particular camber, individual and/or overall toe angle. providing a chassis measurement system comprising four measurement heads (2, 4, 14, 16) arranged at a known position in relation to one another, each of said measurement heads having a monocular image recording device (22, 24, 26, 28), wherein the relative position of the measurement heads (2, 4, 14, 16) in relation to one another is known and wherein the distance (dVA) between the front measurement heads (2, 4) differs from the distance (dHA) between the rear measurement heads (14, 16); in each case recording a front wheel (6, 8) or a measurement target attached thereon using the rear measurement heads (14, 16) in at least one driven-in position of the vehicle; recording the four wheels (6, 8, 10, 12) or the measurement targets attached thereon using each one of the four measurement heads (2, 4, 14, 16) in a first principal measurement position and in at least one second principal measurement position of the vehicle; carrying out local 3D reconstructions with a local scale for determining the translation vectors (t1, t2, t3, t4), the rotation vectors (R1, R2, R3, R4) and the wheel rotation angles between these positions and the wheel rotation centres and the wheel axes of the wheels (6, 8, 10, 12) from the recorded images of the wheels (6, 8, 10, 12) or the measurement targets applied thereon; adapting the four local scales of the principal measurement positions to a common, global scale by comparing the vehicle movement; transferring the global scale to the 3D reconstruction of the driven-in measurement positions by comparing the identical geometry of the front axis; determining an absolute scale for the measurement heads (2, 4, 14, 16) from the measurements of the front wheels (6, 8) or the measurement targets attached thereon in the driven-in positions and in the principal measurement positions, and from the difference in the distances between the front image recording devices and the rear image recording devices, wherein this difference is known; and determining the chassis measurement parameters of the vehicle, in particular camber, individual and/or overall toe angle.