Various types of displacement sensors, which measure position changes of object, have been developed depending on the type and shape of the object under measurement, measurement range of the amount of displacement, required accuracy, and application. We are developing a new type of displacement sensor that is image-based, capable of measuring changes in 6DOF (3D position and orientation) of an object simultaneously, and is compact and low-cost. This displacement sensor measures the 6DOF of an object using images obtained by a monocular vision system. To confirm the usefulness of the proposed method, experimental measurements were conducted using a simple and inexpensive optical system. In this experiment, we were able to accurately measure changes of about 0.25 mm in displacement and 0.1 deg in inclination of the object at a distance of a few centimeters, and thus confirming the usefulness of the proposed method.