This paper presents a novel method that automatically reconstructs pipes in real time usingan RGB-D camera. The input image is decomposed into superpixels, and a pipe element, whichis a 3D circle lying on the pipe surface, is generated for each superpixel. Over frames, the pipeelements are grouped into sequences and are finally modeled in parametric equations. The methodis tested in daily settings, where the pipes may be curved and their radii may vary along the axes.The test results show that the method is able to reconstruct pipes efficiently, precisely and robustly.