A new method of vision coordinate measurement using stereo-probe imaging is presented. The system consists of a CCD camera, a stereo-probe and a personal computer. It realizes the three-dimensional coordinate measurement of the contacted points by utilizing the stereo-probe to contact with measurement surface and analyzing the imaging changes of the known characteristic points on the objective-probe. It can realize not only most of the present vision coordinate measurement, but also the measurement of hidden surfaces. In addition, it does not depend on light characteristic of measurement surface and has a larger measurement range. At first, the paper sets up the nonlinear measurement equations of the vision coordinate measurement system by special coordinate translation. Following, the paper describes the Newton nonlinear initiation method to resolve the measurement equations. Finally, the paper analyzes the effect factors of the system accuracy. In addition, the paper also brings forward an auto-calibration approach of important parameter---effective focus. Furthermore, the article validates the correctness of measuring model and feasibility of resolving the nonlinear measurement equations.