In this study, we presented the scheme of a segmented pose measuring system as well as its implementation. Further, we presented a linear three-dimensional coordinate measurement model for a far-segmented measuring subsystem by applying an imaging equation of the line cameras equipped with cylindrical lenses and calibrated the extrinsic parameters of each line camera by minimizing the object space errors. We proposed an iterative pose optimization method based on a linear initial solution to solve the problems related to monocular pose determination for a near-segmented measuring subsystem. The experimental results demonstrate that the proposed system can achieve a relative position measurement accuracy of less than 0.5% and a root mean square error of less than 40 mm in the vision range of 5-35 m. Moreover, the system can realize an attitude tracking accuracy of less than 1° in the vision range within 5 m, satisfying the large vision range requirement of pose measurement.