The pose measurement for end effector of mobile manipulator in large-scale workspace is critical to processing quality control. In this paper, a novel low-cost measurement system without accumulative error and laser block is proposed. The measurement system which is based on the integration of a mobile robotic system with two binocular systems. By estimating the pose of first binocular camera based on the relationship between camera and referential targets mounted on the ground, the poses of second binocular camera and coordinates of terminal target mounted on end-effector can be obtained sequentially through pose transformation, whereby the pose of end effector can be calculated. The proposed measurement system has an accuracy of ±0.25mm and ±0.02° in position and orientation, respectively, which is effective in mobile manipulator pose measurement.