A rapid formwork position and pose measurement method based on computer vision techniques, such as three-dimensional reconstruction and image recognition, is proposed to address the time-consuming, labor-intensive, and inefficient problems of traditional position and pose measurement methods for segment girder formworks in precast girder yards. Experiments are conducted inside and outside the laboratory to investigate the influences of common factors at the engineering site on measurement accuracy, and the shooting conditions for obtaining high measurement accuracy are summarized. On this basis, the feasibility and applicability of the proposed method are verified through experiments at actual precast girder yards. The results show that the proposed method can measure the position and pose of segment girder formworks quickly, easily, and inexpensively in addition to meeting accuracy requirements.