A method for verification of correct assembly of a part, the part having a plurality of subcomponents, the method comprising: at train time, positioning at least two cameras such that a field of view of at least one of the cameras includes at least one subcomponent of the part; calibrating each of the at least two cameras at least so as to relate image coordinates to physical coordinates; for each of at least two subcomponents, using each of the at least two cameras, acquiring an image of a subcomponent in a correctly assembled position; for each of the at least two subcomponents, computing an expected 3D position of the subcomponent by triangulation; characterized by conducting at train time the following steps; for each of at least two subcomponents, using each of the at least two cameras, selecting a training window that includes the subcomponent, and selecting the same point on the subcomponent in each training window, the same point serving as an origin associated with the subcomponent; for each of at least two subcomponents, using the training window and the origin corresponding thereto, creating a 2D search model of the subcomponent in the training window; selecting inspection parameters; conducting at run time the following steps; for each of at least two subcomponents of an assembled part to be verified, using each of the at least two cameras, acquiring an image of a subcomponent in a candidate assembled position; for each of the at least two subcomponents, finding the image of the subcomponent in the candidate assembled position using the 2D search model of the subcomponent so as to provide a measured 2D position of the origin of the subcomponent; for each of the at least two subcomponents, computing a measured 3D position of the subcomponent by triangulation; for each of the at least two subcomponents, computing a difference in 3D position between the measured 3D position of the subcomponent and a respective correct 3D position of the subcomponent; and comparing the difference in 3D position with the inspection parameters so as to contribute to determining whether the part was assembled correctly. at train time, positioning at least two cameras such that a field of view of at least one of the cameras includes at least one subcomponent of the part; calibrating each of the at least two cameras at least so as to relate image coordinates to physical coordinates; for each of at least two subcomponents, using each of the at least two cameras, acquiring an image of a subcomponent in a correctly assembled position; for each of the at least two subcomponents, computing an expected 3D position of the subcomponent by triangulation; characterized by conducting at train time the following steps; for each of at least two subcomponents, using each of the at least two cameras, selecting a training window that includes the subcomponent, and selecting the same point on the subcomponent in each training window, the same point serving as an origin associated with the subcomponent; for each of at least two subcomponents, using the training window and the origin corresponding thereto, creating a 2D search model of the subcomponent in the training window; selecting inspection parameters; conducting at run time the following steps; for each of at least two subcomponents of an assembled part to be verified, using each of the at least two cameras, acquiring an image of a subcomponent in a candidate assembled position; for each of the at least two subcomponents, finding the image of the subcomponent in the candidate assembled position using the 2D search model of the subcomponent so as to provide a measured 2D position of the origin of the subcomponent; for each of the at least two subcomponents, computing a measured 3D position of the subcomponent by triangulation; for each of the at least two subcomponents, computing a difference in 3D position between the measured 3D position of the subcomponent and a respective correct 3D position of the subcomponent; and comparing the difference in 3D position with the inspection parameters so as to contribute to determining whether the part was assembled correctly.