A variety of corrosion-monitoring probes/devices exist commercially. A simple visual exam of a surface should reveal any metal loss--assuming you can expose the surface. Sounds like you are looking for an in-place monitoring system so you don't have to dig up the pipe.
A good rule of thumb is to assume you DO have active corrosion unless some measure(s) are taken to prevent it, or the environment is benign. Assuming again that your pipe is steel/cast iron, remember that it generally wants to return to its natural form, iron oxide.