In this study, an innovative laser 3D-scanning technology is proposed to scan pipe inner walls in order to solve the problems of the exorbitant expenses and operational complexities of the current equipment for the 3D data acquisition of the pipe inner wall, and the difficulty of both the efficiency and accuracy of traditional light stripe-center extraction methods. The core of this technology is the monocular-structured light 3D scanner, the image processing strategy based on tracking speckles, and the improved gray barycenter method. The experimental results demonstrate a 52% reduction in the average standard error of the improved gray barycenter method when compared to the traditional gray barycenter method, along with an 83% decrease in the operation time when compared to the Steger method. In addition, the size data of the inner wall of the pipe obtained using this technology is accurate, and the average deviation of the inner diameter and length of the pipe is less than 0.13 mm and 0.41 mm, respectively. In general, it not only reduces the cost, but also ensures high efficiency and high precision, providing a new and efficient method for the 3D data acquisition of the inner wall of the pipe.