Method for chassis measurement, comprising the following steps: providing a chassis measuring system with four measuring heads (2, 4, 14, 16) arranged with a known position in relation to one another, each of which having a monocular image recording device (22, 24, 26, 28), wherein the relative position of the measuring heads (2, 4, 14, 16) in relation to one another is known; respectively recording one wheel (6, 8, 10, 12), or a measurement target attached thereon, in an initial position of the vehicle with each one of the four measuring heads (2, 4, 14, 16); displacing the vehicle from the initial position into at least one further position; respectively recording one wheel (6, 8, 10, 12), or a measurement target attached thereon, of the vehicle which is standing in the further position with each one of the four measuring heads (2, 4, 14, 16); establishing the centre of tyre contact as scale-providing element in at least one of the initial position and the further position of the vehicle and determining an absolute scale for the measuring heads (2, 4, 14, 16) while determining the horizontal distance (d) from the centre of tyre contact to the monocular image recording device (22, 24, 26, 28) from the observation angle (α) thereof and the observation height (h) thereof; performing local 3-D reconstructions for determining the translation vectors (t1, t2, t3, t4), the rotational vectors (R1, R2, R3, R4) and the wheel rotation angle between the at least two positions (A, E) and the wheel rotation centres and the wheel rotation axes of the wheels (6, 8, 10, 12); and determining the chassis measurement parameters of the vehicle, in particular camber, individual and/or overall toe angle, wheelbase and track width. providing a chassis measuring system with four measuring heads (2, 4, 14, 16) arranged with a known position in relation to one another, each of which having a monocular image recording device (22, 24, 26, 28), wherein the relative position of the measuring heads (2, 4, 14, 16) in relation to one another is known; respectively recording one wheel (6, 8, 10, 12), or a measurement target attached thereon, in an initial position of the vehicle with each one of the four measuring heads (2, 4, 14, 16); displacing the vehicle from the initial position into at least one further position; respectively recording one wheel (6, 8, 10, 12), or a measurement target attached thereon, of the vehicle which is standing in the further position with each one of the four measuring heads (2, 4, 14, 16); establishing the centre of tyre contact as scale-providing element in at least one of the initial position and the further position of the vehicle and determining an absolute scale for the measuring heads (2, 4, 14, 16) while determining the horizontal distance (d) from the centre of tyre contact to the monocular image recording device (22, 24, 26, 28) from the observation angle (α) thereof and the observation height (h) thereof; performing local 3-D reconstructions for determining the translation vectors (t1, t2, t3, t4), the rotational vectors (R1, R2, R3, R4) and the wheel rotation angle between the at least two positions (A, E) and the wheel rotation centres and the wheel rotation axes of the wheels (6, 8, 10, 12); and determining the chassis measurement parameters of the vehicle, in particular camber, individual and/or overall toe angle, wheelbase and track width.