Aiming at the problem that the existing 3D reconstruction methods for pipe depend on target′s structure and texture characteristics, this paper proposed a bridge-type point cloud matching method based on cooperative objective and monocular vision to realize 3D reconstruction of pipe. The method does not depend on any structure and texture characteristics of the pipe, and has faster matching speed, and is not affected by the scale of the point cloud. At the same time, a high-precision cooperative objective based on concentric circle is designed, which is used to calculate the high-precision matching pose of the point cloud. The accuracy of the pose can reach 0.02 mm, which is 53% higher than that of the elliptical cooperative objective. Simultaneously, the robust recognition algorithm of the cooperative objective and the ranking algorithm for feature points with rotation invariance are realized. Finally, using ROS robot, a 3D reconstruction system of pipe without any features was built, and in actual experiments, the overall 3D reconstruction of the pipe with a matching accuracy of 0.02 mm was completed.