摘要： In the product surface defect detection system, the detection accuracy can be greatly improved if the surface grayscale image and depth image can be adopted simultaneously. Existing 3-D cameras have the problem in precise registration of 2-D images and 3-D data, which results in inflexibility and inevitable error in practical vision tasks. Hence, we propose a novel stereo vision measurement system which is able to simultaneously acquire registered scan grayscale images and depth images without special data registration algorithm as well as the calibration method. The proposed measurement system mainly consists of a line laser system, a line scan camera, and a frame camera. The line scan camera captures clear images of objects illuminated by the line laser. In addition, the line scan camera and the frame camera form a stereo vision sensor. In this case, the line laser stripe provides location feature of the matching point for frame camera. The epipolar constraint implements the matching process between the line scan camera and the frame camera. Finally, the stereo vision measurement model is utilized to realize the 3-D coordinate reconstruction, and the z-axis coordinate is used to generate depth image. The proposed system can simultaneously obtain the image and depth information corresponding to each pixel by means of a push sweep. In the experiment, the measurement system can achieve the accuracy of 0.13 mm within a measurement range of 500 mm × 300 mm × 200 mm.