A novel method combine epipolar constraint to speckle correlation for real-time three-dimensional measurement is presented. Random digital speckle is embedded in the sinusoidal fringe patterns and three-phase-shift is proposed. The period of phase in each pixel is resolved by means of epipolar constraint. Using the theoretical minimum of three images, the phase ambiguity is eliminated and the absolute phase is recovered. Experimental results indicate that the proposed method improves the accuracy of the phase unwrapping immensely compared with the traditional information-embedded and multi-camera constraint methods. In order to improve the operation efficiency of the algorithm, the graphics processing unit parallel computation based on parallel computing architecture is introduced to optimize the algorithm. And the system achieves real-time three-dimensional measurement at average speed of 26 frame/s with a resolution of 94,163 points per frame.