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CCTV is a well-established and prevalent method for pipe inspection. However, there are several limitations of CCTV technology:
(i) It could only provide the view of pipe internal surface above waterline.
(ii) It does not provide the view of soil conditions surrounding the pipe.
(iii) Most CCTV system is incapable of measuring pipe gradient.
(iv) It does not provide any structural data on the integrity of pipe wall.
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