A method based on multi-sensor to measure the pose of a three-dimensional object is proposed. We employ multi-sensor technology to make the advantages of the depth camera and the high-resolution charge-couple device (CCD) camera, improving the robustness and efficiency of measurement. The target area is coarsely located in the point cloud based on the relationship between the object and its fixed board, and the region is converted to gray image space by the prior calibration information. In the gray image, four target straight lines are extracted by the Line Segment Detector (LSD) and feature constraints. The perspective 4 point (P4P) algorithm is utilized to calculate the six-dimensional pose of the object. The experiment verifies the validity of the algorithm and the measurement efficiency of the algorithm is much better than that of the classical template matching method.