Aiming at the problems of complex structure, poor reliability, high cost, and low accuracy in the front shield/support shield pose measurement methods in the existing dual shield tunnel boring machine (TBM) guidance system, this paper proposes a new method for non-contact rapid measurement based on industrial cameras and special-shaped active targets. This method uses technologies such as machine vision, spatial pose transformation, and multi-sensor fusion/calibration to realize the function of stably guiding the dual-shield TBM in the state of strong vibration tunneling. The experimental results show that the proposed method can achieve the high-performance measurement of the six-degree-of-freedom space pose of the front shield/support shield, the measurement frequency is not less than 20 Hz, and the measurement error of the feature point coordinates of the shield machine in a static state is less than 5 mm@(3 m×2 m×6 m), the measurement error under vibration is less than 10 mm@(amplitude is 3 mm, frequency is 20 Hz), which can be used in the double shield TBM guidance system.