A shape measurement system for Hume pipes (diameter 1200 to 2000 mm) is developed using an omnidirectional sensor and a light sectioning method with laser beam scanning to evaluate degradation of Hume pipes. This system can measure the inner wall shape of Hume pipes at high speeds (about 3000 distance measurement points within 3 s) and high accuracy while moving along the pipe axis, and it can evaluate the corrosion quantity of the pipe wall surface. To measure the 3-D shape, the system is developed using an omnidirectional imaging device combined with a laser beam for slit light projection, and a hyperbolic mirror and high-precision digital camera. Also, an algorithm is developed that calculates position coordinates of the camera optical axis and posture with the distance data from the camera optical axis to the pipe wall surface. Performance test results of the developed system have accuracy in a shape measurement of about 3 mm for distances of 400 to about 1600 mm.