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Omnidirectional image acquisition sensor has become an integral part of robotic application. In this paper, a catadioptric sensor is developed for inspection of the interior wall of a cylindrical pipe. The developed system provides 360 degree field of view and can be used as an onboard sensor of a robotic system where human intervention is not convenient or impossible. Image processing is done to detect faults in the image obtained from catadioptric sensor. A suitable hardware setup is implemented to test the inspection ability of the catadioptric sensor.