ROBO-SPECT (http://www.robo-spect.eu/) is a project co-funded by the European Commission under the 7th Framework Programme that runs from 2013 through 2016 implemented by 11 partner organisations from 6 European countries. The ROBO-SPECT consortium is combining recent advances in robotic systems and sensors, computer vision, ultrasonic sensing, and laser scanning, in an integrated manner to achieve structural assessment of reinforced concrete linings in transportation tunnels in a semi-autonomous way.
Recently the consortium released info about the progress of the project. You can download this press release here.