An apparatus for measuring a position according to an embodiment includes a light source emitting light to an inner surface of a pipe, a first lens receiving reflected light from which light emitted by the light source is reflected by the inner surface and converting the reflected light into parallel light parallel to an optical axis, a second lens disposed on an optical path of the parallel light and converting the parallel light into a convergent refracted light, an image sensor disposed on an optical path of the refracted light, one or more elastic members disposed between the first lens and the second lens, and a plurality of wheels that are coupled to a side surface of the first lens and are in close contact with the inner surface to be rotated by movement of the moving body.