Road three-dimensional digital modeling method, medium and system

The invention discloses a road three-dimensional digital modeling method, medium and system, and the method comprises the steps: controlling a monocular camera carried by a carrier vehicle to collect an image of a to-be-detected road at each collection position when the carrier vehicle runs on the to-be-detected road, and enabling a combined navigation system to collect the spatial positioning coordinates and attitude angles of the optical center of the camera; establishing a track of camera road surface projection; constructing a pavement three-dimensional digital model; determining a first position constraint of the target ancillary facility based on a geometric center point of the target ancillary facility in the identified to-be-measured road image and a spatial positioning coordinate and an attitude angle of a camera optical center of an acquisition position of the to-be-measured road image; determining a second position constraint of the target ancillary facility based on the type of the target ancillar