Aiming at the problem of unstable pose measurement of roadheader fuselage in a low-illumination and non-uniform dust environment in coal mines, a vision measurement technology for roadheader fuselage with three laser spots as point features is proposed. According to the characteristics of strong laser penetrability, the laser target image collected by the explosion-proof industrial camera is processed. Through the combination of the smallest inscribed rectangle and the ellipse fitting of the spot area, the spot characteristics of the three laser pointers are obtained. It adopted the P3P monocular vision positioning algorithm to calculate the spatial pose of the tunneling machine body through the transformation of the spatial coordinate matrix. According to the posture measurement experiment of the roadheader’s fuselage, under the influence of dust and stray light, the error of the position information of the roadheader’s fuselage obtained by this method is within 30 mm, and the attitude error is within 0. 5°. Accurate extraction of laser spots and stable measurement of body pose under complex backgrounds such as stray light, dust and water fog, basically meet the accuracy requirements of roadway excavation construction.