Automated Inspection System for Large Underground Concrete Pipes Under Operating Conditions. - Norbert Elkmann; Bert Reimann; Erik Schulenburg; Heiko Althoff (FSR, 2005)

Fully Automatic Inspection Systems for Large Underground Concrete Pipes Partially Filled with Wastewater. - Norbert Elkmann; Sven Kutzner; José F. Saenz; Bert Reimann; Falko Schultke; Heiko Althoff (IROS, 2006)

Development of Fully Automatic Inspection Systems for Large Underground Concrete Pipes Partially Filled with Wastewater. - Norbert Elkmann; Heiko Althoff; Sven Kutzner; Thomas Stürze; José F. Saenz; Bert Reimann (ICRA, 2007)

Application of visual odometry for sewer inspection robots. - José F. Saenz; Christoph Walter; Erik Schulenburg; Norbert Elkmann; Heiko Althoff (IROS, 2008)

Treading new water with a fully automatic sewer inspection system. - José F. Saenz; Norbert Elkmann; Christoph Walter; Erik Schulenburg; Heiko Althoff (ISR/ROBOTIK, 2010)

Design considerations of robotic system for cleaning and inspection of large-diameter sewers. - Christoph Walter; José F. Saenz; Norbert Elkmann; Heiko Althoff; Sven Kutzner; Thomas Stürze (J. Field Robotics, 2012)