Method for contactless coordinate measurement on the surface of an object of an object to be measured in an object coordinate system, wherein • a first three-dimensional image (P 1) of a first area segment (S 1) of the surface of the object is electronically recorded by a 3D image recording unit in a first position (x 1, y 1, z 1) and first alignment (φ 1, ω 1, κ 1), wherein the 3D image recording unit comprises at least two electronic cameras (3a, 3b, 3c), which record the first area segment (S 1) from at least two different detecting angles, to create the three-dimensional image (P 1), and wherein the first three-dimensional image (P 1) being composed of a multiplicity of first pixels (i 1), which are respectively assigned an item of depth information, and wherein the 3D image recording unit is held, during the image recording, by a holding device designed as an articulated holding arm, which substantially absorbs the holding forces, • the first pixels (i 1) are assigned first 3D image coordinates (u 1i, v 1i, w 1i) in an image coordinate system of the 3D image recording unit, • the first position (x 1, y 1, z 1) and first alignment (φ 1, ω 1, κ 1) of the 3D image recording unit in the object coordinate system are detected contactlessly through indirect or direct targeting of the 3D image recording unit by an optical laser measuring system, particularly a laser tracking system, coupled to the object coordinate system and • the first pixels (i 1) are assigned first 3D object coordinates (x 1i, y 1i, z 1i) in the object coordinate system from the knowledge of the first 3D image coordinates (u 1i, v 1i, w 1i) and also the first position (x 1, y 1, z 1) and first alignment (φ 1, ω̅ 1, κ 1) of the 3D image recording unit. • a first three-dimensional image (P 1) of a first area segment (S 1) of the surface of the object is electronically recorded by a 3D image recording unit in a first position (x 1, y 1, z 1) and first alignment (φ 1, ω 1, κ 1), wherein the 3D image recording unit comprises at least two electronic cameras (3a, 3b, 3c), which record the first area segment (S 1) from at least two different detecting angles, to create the three-dimensional image (P 1), and wherein the first three-dimensional image (P 1) being composed of a multiplicity of first pixels (i 1), which are respectively assigned an item of depth information, and wherein the 3D image recording unit is held, during the image recording, by a holding device designed as an articulated holding arm, which substantially absorbs the holding forces, • the first pixels (i 1) are assigned first 3D image coordinates (u 1i, v 1i, w 1i) in an image coordinate system of the 3D image recording unit, • the first position (x 1, y 1, z 1) and first alignment (φ 1, ω 1, κ 1) of the 3D image recording unit in the object coordinate system are detected contactlessly through indirect or direct targeting of the 3D image recording unit by an optical laser measuring system, particularly a laser tracking system, coupled to the object coordinate system and • the first pixels (i 1) are assigned first 3D object coordinates (x 1i, y 1i, z 1i) in the object coordinate system from the knowledge of the first 3D image coordinates (u 1i, v 1i, w 1i) and also the first position (x 1, y 1, z 1) and first alignment (φ 1, ω̅ 1, κ 1) of the 3D image recording unit.