Abstract: A novel monocular method for objectvs attitude measurement based on vanishing point was proposed, which used parameters of monocular camera and the location of vanishing point in the image to compute the direction of characteristic straight line and object-s attitude. Meanwhile, vanishing point accuracy evaluation index was presented, which could be used as evaluation criterion of attitude measurement accuracy and weight factor for weighting fusion. The feasibility and accuracy of the proposed method were tested by experiments with simulated data and real images.Results show that it is an accurate and easy method for attitude measurement of columnar objects.The mean-error between this paper and the axes-symmetry method is less than 0.2.