In order to solve the problem of low measurement accuracy caused by uneven imaging resolutions, we develop a three-dimensional catadioptric vision sensor using 20 to 100 lasers arranged in a circular array called omnidirectional dot maxtric projection (ODMP). Based on the imaging characteristic of the sensor, the ODMP can image the area with a high image resolution. The proposed sensor with ODMP can minimize the loss of the detail information by adjusting the projection density. In evaluating the performance of the sensor, real experiments show the designed sensor has high efficiency and high precision for the measurement of the inner surfaces of pipelines.