PipeProbe: Mapping Spatial Layout of Indoor Water Pipelines

We propose PipeProbe, a mobile sensor system for mapping water pipelines hidden inside cement walls or under floor coverings. PipeProbe works by dropping a tiny sensor capsule into the source of the water pipelines. As the PipeProbe capsule traverses the pipelines, it gathers accelerometer and water pressure readings. Through a novel estimation method based on Bernoulli's principle, we reconstruct the 3D spatial layout of the water pipelines. The PipeProbe system is non-intrusive and requires no alteration to the water pipeline infrastructure.