To address the challenge of inertia tensor measurement for irregular rigid bodies, this article proposes a novel integrated method combining binocular vision and torsional pendulum techniques. First, high-resolution industrial cameras synchronized with an atomic clock are employed to capture sequential images of the torsional motion during a single measurement cycle. Feature points are extracted from the images, and a high-precision angular displacement-time curve is derived based on the geometric relationships within the measurement system. From this curve, the torsional vibration period and damping ratio are extracted. A linear damped torsional vibration model under linear damping conditions is subsequently applied to calculate the moment of inertia for a single measurement. Furthermore, binocular structured light 3D reconstruction technology is utilized to obtain the point cloud data of the measured object and the torsional pendulum. A point cloud registration algorithm is used to accurately align the real-measured point cloud of the object with the point cloud of the object′s computer-aided design (CAD) model, solving for the homogeneous transformation matrix. The axis direction is determined through cylindrical axis fitting, and the homogeneous transformation matrix is used to transform the data into the coordinate system of the CAD model′s product center of mass, effectively avoiding the mechanical positioning errors inherent in traditional measurement methods. The cosine values of the angles between the centroidal coordinate system axes and the torsional pendulum axis are computed. Combined with the measured moments of inertia, these values formulate an inertia ellipsoid equation. Ultimately, a system of equations encompassing all parameters of the inertia tensor is formulated through six rotational configurations and solved to achieve high-precision measurement of both the moments of inertia and inertia products. Extensive experiments are conducted on the proposed method and system. The experimental results evaluate the feasibility and effectiveness of the proposed method. The absolute error in the measurement of the moment of inertia is less than 0.5×10-5 kg·m2, and the maximum deviation in the principal axis orientation angle is 0.99°. The measurement proposed scheme proposed in this paper achieves high accuracy, no longer relying on mechanical positioning, significantly improving both measurement efficiency and safety. It is suitable for the measurement of inertial parameters of various products.