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)

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)