A survey method for objects at a distance is proposed in order to resolve the problem of lacking geospatial information in stereo panorama. The current methods mainly aim at the survey for close range objects, while for a bit far range objects or even for long range objects measurement with a non-metric camera, the accuracy of the result is low if there are no control points provided. In the proposed method, GPS/INS sensors are utilized to acquire the camera’s pose data, and the original values in the relative orientation procedure are set in a new way. As a consequence, objects can be measured much more precisely on the stereo panorama, with the precision up to 1% of the distance between the camera and the objects in the performed experiments.