Pipe Inspection Crawler STORMER S3000 - Live Footage Video
Pipe Crawler STORMER 3000 ( http://www.fiberscope.net/pipe-crawler-robot-stormer.html ) video footage from a sewer line. This video is about as bad as survey can get before the operator will abandon, pending cleaning. The last half is mostly underwater, very dirty water.
It also shows that steering even in these conditions in a circular pipe doesn’t really help much as there is nowhere to steer to.