Position and orientation are the basic geometric parameters that represent the spatial orientation and position of the target, such as the flight attitude of an aircraft, the docking position while assembling large products, and the body position of athletes in sports. Therefore, accurate and rapid measurement of position and orientation is an essential task in aerospace, national defense, military, industrial production, sports, and many other fields. To this end, various techniques have been applied to position and orientation measurements, such as inertial guidance, satellite, radar, star-sensitive device, and visual measurement. Hence, this paper summarizes the position and orientation visual measurement methods and their applications, including the basic principles and typical methods, multi-source data fusion measurement method, and the main application areas.