An apparatus and a method that can be used for qualitative or quantitative determination of the three-dimensional location of two bodies relative to one another which can be used, for example, to determine the mutual position of two bodies according to angular or translational coordinates. Furthermore, the apparatus and method can be used in a measurement robot or in a coordinate measurement device. The device composed of a device for emitting a light beam which is fanned in several planes and at least three, preferably four or more, optoelectronic line sensors or linear sensors for determination of the incidence points of the light beam which has been flared in several planes on the line sensors or an upstream target surface.