We present the results of an unbiased asteroid survey in the mid-infrared wavelength region with the Infrared Camera (IRC) on board the Japanese infrared satellite AKARI. About 20% of the point source events recorded in the AKARI All-Sky Survey observations are not used for the IRC Point Source Catalog (IRC-PSC) in its production process because of a lack of multiple detection by position. Asteroids, which are moving objects on the celestial sphere, remain in these "residual events". We identify asteroids out of the residual events by matching them with the positions of known asteroids. For the identified asteroids, we calculate the size and albedo based on the Standard Thermal Model. Finally we have a new brand of asteroid catalog, named the Asteroid Catalog Using AKARI (AcuA), which contains 5120 objects, about twice as many as the IRAS asteroid catalog. The catalog objects comprise 4953 main belt asteroids, 58 near-Earth asteroids, and 109 Jovian Trojan asteroids. The catalog is publicly available via the Internet.