José Saenz Norbert Elkmann Christoph Walter Erik Schulenburg Heiko Althoff Treading new water with a fully automatic sewer inspection system. 1-6 2010 ISR/ROBOTIK http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5756895 conf/isr/2010 db/conf/isr/isr2010.html#SaenzEWSA10