Abstract: An apparatus to acquire 3-dimensional geographical information of an underground pipe includes an in-pipe transfer unit which moves along the inside of the underground pipe, a sensing unit which senses 3-dimensional location information of the in-pipe transfer unit, and an information storage unit which stores a value measured by the sensing unit. Accordingly, the depth at which the underground pipe is located as well as 2-dimensional location information of the underground pipe is stored in the information storage unit so that maintenance and repair of the underground pipe can be carried out with greater efficiency.