Fast and accurate 3D measurement of large stack-yard is important job in bulk load-and-unload and logistics management. Stack-yard holds its special features as complex and irregular shape, single surface texture and low material reflectivity, thus its 3D measurement is quite difficult to be realized by non-contacting technologies, such as LiDAR and photogrammetry. Light section is good at the measurement of small bulk-flow but not suitable for large-scale bulk yard yet. An improved method based on stereo cameras and laser-line projector is proposed. The due theoretical model and algorithm include: corresponding point of contour edge matching in stereo imagery based on gradient and epipolar-line relation, 3D point-set calculating for stereo imagery projected-contour edge with least square adjustment and forward intersection, then 3D contour reconstructed by random sampling consensus (RANSAC) and contour spatial features from 3D point set of single contour edge. In this way, stack-yard surface can be scanned easily by the laser-line projector, and certain region′s 3D shape can be reconstructed automatically by stereo cameras on an observing position. Experiment proves that the proposed method is effective for bulk-yard 3D measurement in fast, automatic, reliable and accurate way.