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In recent years, the visual navigation began to become the focus. In rail detection, the existing sports under the state of measuring methods adopted by the coordinate system are based on the measurement system itself a continuous dynamic changes of the coordinate system, cannot establish clear resolution contact with static reference point. In order to solve this problem, a new detection algorithm is proposed combining with simultaneous localization and mapping. In this paper, a relationship between a dynamic coordinate system and the static reference point was built to realize continuous motion measurement, which was based on the principle of simultaneous localization and mapping (SLAM) and the coordinate transformation method of binocular vision system. We designed a movement course in the experiment to verify the coordinate transformation algorithm, and got a space linear curve based on the world coordinate system. Experimental result shows that after the transformed coordinates, x, y, z three directions of the maximum error is less than 0.734 mm.