The work consists of all labor, material, and equipment to inspect existing large diameter sewers using Multi-Sensor (Laser/LiDAR), Sonar, and HD Image technology. The MSI deployment shall provide a three-dimensional representation of internal pipe conditions above the flow line using laser/LiDAR measurement and below the flow line using sonar measurement and both combined with HD imaging. The work includes locating manhole using signal transmitting device, processing the MSI data and delivering the results of the processing in a ready to use format.