This paper proposes a method to construct a 3D map from images of interior pipes. The corrosions and cracks of old pipes are one of the causes of road collapsing. To prevent these accidents, it is essential to examine inside of the old pipes, and consider whether to repair or to replace them. This method consists of creating a development view, estimating motions by using optical flow, excluding outliers, and connecting development views. The effectiveness of the proposed method is verified through the experiments such as connecting the development views.