• Innovative Pavement Distress Detection: This study introduces a pioneering approach utilizing an RGB-D camera and instance segmentation algorithm to detect and quantify pavement distress, offering a unique solution to a critical infrastructure challenge. • Accurate 3D Point Cloud Analysis: The method efficiently converts pixel data into 3D point clouds, enabling precise assessment of distress area and severity, enhancing reliability in pavement condition evaluation. • Optimized Data Acquisition Strategy: Through rigorous testing and simulation using high-density polystyrene foam, the study identifies an optimal data acquisition scheme, ensuring dependable results even under varying experimental conditions. • Severity-Dependent Error Reduction: Findings demonstrate that error rates in area and volume measurements decrease as distress severity increases, highlighting the method's capacity to provide more accurate assessments for severe pavement issues. • Cost-effective Maintenance Solution: This approach offers a low-cost, high-precision solution for pavement distress detection and maintenance, presenting significant potential benefits for infrastructure management and maintenance planning. This study presents an innovative and cost-effective approach for pavement distress detection and quantification using an RGB-D camera in conjunction with an instance segmentation algorithm. The proposed method employs the instance segmentation algorithm to acquire 2D coordinate information pertaining to the affected pixels and integrates the internal reference matrix and depth data from the depth camera to transform the 2D images of the distressed areas into 3D point cloud data, consequently enabling distress quantification. To assess the dependability of the proposed approach, high-density polystyrene foam was used to simulate potholes and cracks of the pavement. Data collection was conducted under varying experimental conditions to identify the optimal data collection scheme. Using the approach, potholes and cracks of varying severity were collected from both asphalt and cement concrete pavements. The outcomes of the study demonstrate that the proposed methodology is capable of accurately detecting and quantifying potholes on the pavement. Furthermore, the errors associated with both the calculated area and volume exhibit a gradual decrease with an increase in the severity of pavement distress. However, for cracks, the method yields a larger error in results, primarily due to the instance segmentation algorithm's imprecise segmentation of crack edge pixels, despite superior restoration of the planar contour of cracks. [ABSTRACT FROM AUTHOR]