For linear features, an algorithm which is based on perpendicular lines is proposed for binocular vision pose measurement. The algorithm is based on linear feature and its projection line on the camera image coplanar property. Unit quaternions is used to simplify model variables. Under the condition of two known perpendicular on object, an analytical solution of object pose can be determined with four lines which is projected by two perpendicular lines on two-camera image. The algorithm is also analyzed when linear vector projected onto the two cameras on the same line, namely linear vector parallel to the two camera position. Matlab simulation results show that the algorithm is robust to noise and can guarantee a certain precision even if the two straight lines have error for vertical. Physical experiments show that the algorithm can meet the general precision requirements.