This paper proposes a new method for measuring 3D coordinates of a point using a single camera vision system. The contact point is determined by using 3D force sensors. In addition, the force limiting system has also been incorporated to improve accuracy of the results. 3D point is captured when the touching probe senses the force up to certain limit and subsequently recording of that point is initiated. The points being recorded are then processed for the required feature calculation such as distance between planes, angle, radius etc. The IMU (inertial measurement unit) initially estimates the target plane position which enables the whole system to perform the required task quickly. Hence, this system can be used for continuous scanning of any surface.