Aiming at the problems that the solutions were not unique, the correct solution was difficult to select and the accuracy was not high during processing the solution, an monocular vision pose measurement algorithm based on point features was proposed. Firstly, according to the position relationship between the four coplanar feature points, the parallel and the intersection conditions were analyzed respectively; Secondly, according to the spatial coordinates, image coordinates and spatial position relationships of the feature points, the corresponding unit vectors in the camera coordinate of the three coordinate axes in the world coordinate were derived, then the initial pose of the object to the camera was obtained; Finally, the initial pose was optimized with the LM algorithm to obtain the final pose. The experimental results show that the synthesis error of the article algorithm is 0.54 mm, the errors of the synthesis of the existing EPnP algorithm, two-point one-line algorithm and P3P algorithm are 1.28 mm, 1.52 mm and 4.26 mm, respectively. The synthesis error of the article algorithm is reduced by 57.8%, 64.4% and 87.3% respectively. All in all, the article algorithm is superior to the existing EPnP algorithm, two-point one-line algorithm and P3P algorithm.