“…Ranging and thermometry methods based on laser [ 1 , 2 ] and imaging [ 3 , 4 ] technologies are constrained because light can only travel in straight line, so it is unsuitable for lengthy, curved underground pipeline applications. Ultrasonic and microwave ranging [ 5 , 6 ] and thermometry [ 7 , 8 ] methods require considerable power for long-distance measurements due to their shorter wavelengths and faster attenuation, while increased power means an increased size of the sensor, and hence they are inconvenient for such application, particularly for small diameter conduits. The acoustic method has its advantages over the mentioned techniques above.…”