In Japan, large number of road structures which were built in the period of high economic growth, has been deteriorated due to heavy traffic and severe conditions, especially in the metropolitan area. In particular, the poor condition of expansion joints of the bridge caused by the frequent impact from the passing vehicles has significantly influence the vehicle safety. In recent year, stereo vision is a widely researched and implemented monitoring approach in object recognition field. This paper introduces the development of a stereo camera system for road surface assessment. In this study, first the static photos taken by a calibrated stereo camera system are utilized to reconstruct the three-dimensional coordinates of targets in the pavement. Subsequently to align the various coordinates obtained from different view meshes, one modified Iterative Closet Point method is proposed by affording the appropriate initial conditions and image correlation method. Several field tests have been carried out to evaluate the capabilities of this system. After succeeding to align all the measured coordinates, this system can offer not only the accurate information of local deficiency such as the patching, crack or pothole, but also global fluctuation in a long distance range of the road surface.