Multi-scale asphalt pavement deformation detection and measurement based on machine learning of full field-of-view digital surface data

•An integrated system was proposed for multi-scale asphalt pavement deformation detection and measurement.•A two-step rutting detection method was developed using 1D-CNN classification followed with localization.•Full-lane digital IRI measurement was carried out for spatial distribution analysis of road roughness.•An unsupervised CNN model was presented for large-span deformation segmentation on digital elevation maps.•A digital surface dataset for asphalt pavement deformation monitoring was established.