I have a 3D model which will collide with the terrain. How can I get the terrain position coordinates?
for 3D terrain, the best way to go is heightmaps. Since your terrain is generated from a texture files (pixels), it is easy to get the coordinate and height of each points.
Take a look at http://www.riemers.net/eng/Tutorials/XNA/Csharp/Series1/Terrain_basics.php